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

2022-08-28 17:35:44 +02:00 · 2022-08-28 17:35:44 +02:00 · b466915998
parent 0b8d84d5d4 f7e29b276e
commit b466915998
151 changed files with 6919 additions and 847 deletions
--- a/.github/FUNDING.yml
+++ b/.github/FUNDING.yml
@ -1 +1,2 @@
-patreon: koconnor
+ko_fi: koconnor
+custom: https://www.klipper3d.org/Sponsors.html#klipper-developers
--- a/.github/workflows/klipper3d-deploy.yaml
+++ b/.github/workflows/klipper3d-deploy.yaml
@ -7,7 +7,6 @@ on:
      - master
    paths:
      - docs/**
-      - mkdocs.yml
      - .github/workflows/klipper3d-deploy.yaml
 jobs:
  deploy:
--- a/8
+++ b/8
@ -1,7 +1,7 @@
                    GNU GENERAL PUBLIC LICENSE
                       Version 3, 29 June 2007

- Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
 Everyone is permitted to copy and distribute verbatim copies
 of this license document, but changing it is not allowed.

@ -645,7 +645,7 @@ the "copyright" line and a pointer to where the full notice is found.
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.

 Also add information on how to contact you by electronic and paper mail.

@ -664,11 +664,11 @@ might be different; for a GUI interface, you would use an "about box".
  You should also get your employer (if you work as a programmer) or school,
 if any, to sign a "copyright disclaimer" for the program, if necessary.
 For more information on this, and how to apply and follow the GNU GPL, see
-<http://www.gnu.org/licenses/>.
+<https://www.gnu.org/licenses/>.

  The GNU General Public License does not permit incorporating your program
 into proprietary programs.  If your program is a subroutine library, you
 may consider it more useful to permit linking proprietary applications with
 the library.  If this is what you want to do, use the GNU Lesser General
 Public License instead of this License.  But first, please read
-<http://www.gnu.org/philosophy/why-not-lgpl.html>.
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
--- a/2
+++ b/2
@ -31,7 +31,7 @@ cc-option=$(shell if test -z "`$(1) $(2) -S -o /dev/null -xc /dev/null 2>&1`" \

 CFLAGS := -I$(OUT) -Isrc -I$(OUT)board-generic/ -std=gnu11 -O2 -MD \
    -Wall -Wold-style-definition $(call cc-option,$(CC),-Wtype-limits,) \
-    -ffunction-sections -fdata-sections
+    -ffunction-sections -fdata-sections -fno-delete-null-pointer-checks
 CFLAGS += -flto -fwhole-program -fno-use-linker-plugin -ggdb3

 OBJS_klipper.elf = $(patsubst %.c, $(OUT)src/%.o,$(src-y))
--- a/README.md
+++ b/README.md
@ -13,4 +13,6 @@ To begin using Klipper start by
 [installing](https://www.klipper3d.org/Installation.html) it.

 Klipper is Free Software. See the [license](COPYING) or read the
-[documentation](https://www.klipper3d.org/Overview.html).
+[documentation](https://www.klipper3d.org/Overview.html). We depend on
+the generous support from our
+[sponsors](https://www.klipper3d.org/Sponsors.html).
--- a/config/generic-archim2.cfg
+++ b/config/generic-archim2.cfg
@ -129,7 +129,7 @@ max_temp: 130
 [fan]
 pin: PC26

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PC25

 [mcu]
--- a/config/generic-bigtreetech-e3-rrf-v1.1.cfg
+++ b/config/generic-bigtreetech-e3-rrf-v1.1.cfg
@ -90,7 +90,7 @@ pid_Kd: 948.182
 min_temp: 0
 max_temp: 130

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PB6

 [fan]
--- a/config/generic-bigtreetech-skr-3.cfg
+++ b/config/generic-bigtreetech-skr-3.cfg
@ -0,0 +1,183 @@
+# This file contains common pin mappings for the BigTreeTech SKR 3.
+# To use this config, during "make menuconfig" enable "low-level
+# options", "STM32H743", "128KiB bootloader", and "25MHz clock".
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PD4
+dir_pin: PD3
+enable_pin: !PD6
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PC1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PA15
+dir_pin: !PA8
+enable_pin: !PD1
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PC3
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PE2
+dir_pin: PE3
+enable_pin: !PE0
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PC0
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PD15
+dir_pin: PD14
+enable_pin: !PC7
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB3
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA2
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+#[extruder1]
+#step_pin: PD11
+#dir_pin: PD10
+#enable_pin: !PD13
+#heater_pin: PB4
+#sensor_pin: PA3
+#...
+
+[heater_bed]
+heater_pin: PD7
+sensor_type: Generic 3950
+sensor_pin: PA1
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PB7
+
+#[heater_fan fan1]
+#pin: PB6
+
+#[heater_fan fan2]
+#pin: PB5
+
+[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
+
+########################################
+# EXP1 / EXP2 (display) pins
+########################################
+
+[board_pins]
+aliases:
+    # EXP1 header
+    EXP1_1=PC5, EXP1_3=PB1, EXP1_5=PE9,  EXP1_7=PE11, EXP1_9=<GND>,
+    EXP1_2=PB0, EXP1_4=PE8, EXP1_6=PE10, EXP1_8=PE12, EXP1_10=<5V>,
+    # EXP2 header
+    EXP2_1=PA6, EXP2_3=PE7, EXP2_5=PB2, EXP2_7=PC4,   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.
+
+########################################
+# TMC2209 configuration
+########################################
+
+#[tmc2209 stepper_x]
+#uart_pin: PD5
+#run_current: 0.800
+#diag_pin:
+
+#[tmc2209 stepper_y]
+#uart_pin: PD0
+#run_current: 0.800
+#diag_pin:
+
+#[tmc2209 stepper_z]
+#uart_pin: PE1
+#run_current: 0.800
+#diag_pin:
+
+#[tmc2209 extruder]
+#uart_pin: PC6
+#run_current: 0.600
+#diag_pin:
+
+#[tmc2209 extruder1]
+#uart_pin: PD12
+#run_current: 0.600
+#diag_pin:
+
+########################################
+# TMC2130 configuration
+########################################
+
+#[tmc2130 stepper_x]
+#cs_pin: PD5
+#spi_software_miso_pin: PE15
+#spi_software_mosi_pin: PE13
+#spi_software_sclk_pin: PE14
+#run_current: 0.800
+#stealthchop_threshold: 999999
+#diag1_pin: PC1
+
+#[tmc2130 stepper_y]
+#cs_pin: PD0
+#spi_software_miso_pin: PE15
+#spi_software_mosi_pin: PE13
+#spi_software_sclk_pin: PE14
+#run_current: 0.800
+#stealthchop_threshold: 999999
+#diag1_pin: PC3
+
+#[tmc2130 stepper_z]
+#cs_pin: PE1
+#spi_software_miso_pin: PE15
+#spi_software_mosi_pin: PE13
+#spi_software_sclk_pin: PE14
+#run_current: 0.650
+#stealthchop_threshold: 999999
+#diag1_pin: PC0
+
+#[tmc2130 extruder]
+#cs_pin: PC6
+#spi_software_miso_pin: PE15
+#spi_software_mosi_pin: PE13
+#spi_software_sclk_pin: PE14
+#run_current: 0.800
+#stealthchop_threshold: 999999
+#diag1_pin: PC2
+
+#[tmc2130 extruder1]
+#cs_pin: PD12
+#spi_software_miso_pin: PE15
+#spi_software_mosi_pin: PE13
+#spi_software_sclk_pin: PE14
+#run_current: 0.800
+#stealthchop_threshold: 999999
+#diag1_pin: PA0
--- a/config/generic-bigtreetech-skr-e3-turbo.cfg
+++ b/config/generic-bigtreetech-skr-e3-turbo.cfg
@ -105,7 +105,7 @@ max_temp: 130
 [fan]
 pin: P2.1

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: P2.2

 [mcu]
--- a/config/generic-bigtreetech-skr-mini-e3-v2.0.cfg
+++ b/config/generic-bigtreetech-skr-mini-e3-v2.0.cfg
@ -100,7 +100,7 @@ pid_Kd: 948.182
 min_temp: 0
 max_temp: 130

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PC7

 [fan]
--- a/config/generic-bigtreetech-skr-mini-e3-v3.0.cfg
+++ b/config/generic-bigtreetech-skr-mini-e3-v3.0.cfg
@ -98,7 +98,7 @@ pid_Kd: 948.182
 min_temp: 0
 max_temp: 130

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PC7

 [heater_fan controller_fan]
--- a/config/generic-bigtreetech-skr-mini-mz.cfg
+++ b/config/generic-bigtreetech-skr-mini-mz.cfg
@ -103,7 +103,7 @@ pid_Kd: 948.182
 min_temp: 0
 max_temp: 130

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PC7

 [fan]
--- a/config/generic-bigtreetech-skr-pico-v1.0.cfg
+++ b/config/generic-bigtreetech-skr-pico-v1.0.cfg
@ -100,7 +100,7 @@ max_temp: 130
 [fan]
 pin: gpio17

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: gpio18

 [heater_fan controller_fan]
--- a/config/generic-duet2-duex.cfg
+++ b/config/generic-duet2-duex.cfg
@ -288,7 +288,7 @@ max_temp: 130
 pin: PC23

 # Fan1 controlled by extruder
-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PC26
 heater: extruder
 heater_temp: 45
--- a/config/generic-duet2-maestro.cfg
+++ b/config/generic-duet2-maestro.cfg
@ -123,7 +123,7 @@ max_temp: 130
 [fan]
 pin: PC23  # FAN0

-#[heater_fan nozzle_cooling_fan]
+#[heater_fan heatbreak_cooling_fan]
 #pin: PC22  # FAN1

 #[heater_fan board_cooling_fan]
--- a/config/generic-duet2.cfg
+++ b/config/generic-duet2.cfg
@ -101,7 +101,7 @@ max_temp: 130
 [fan]
 pin: PC23  # FAN0

-#[heater_fan nozzle_cooling_fan]
+#[heater_fan heatbreak_cooling_fan]
 #pin: PC26  # FAN1

 #[heater_fan board_cooling_fan]
--- a/config/generic-duet3-mini.cfg
+++ b/config/generic-duet3-mini.cfg
@ -26,6 +26,7 @@
 # SBC SPISS pin:PA6, SBCTfrReady:PA3, SerComPins:{PA4, PA5, PA6, PA7}
 # CAN Pins - TX:PB14 RX:PB15
 # Heaters, Fan outputs - {Out0:PB17 Out1:PC10 Out2:PB13 Out3:PB11 Out4:PA11, Out5:PB2, Out6:PB1} | Out6 is shared with VFD_Out
+# Tach Pins for Fans - {Out3.Tach:PB27 Out4.Tach:PB26}
 # GPIO_out - {IO1:PB31 IO2:PD9 IO3:PB12 IO4:PD10} IO4 is shared with PSON
 # GPIO_in - {IO1:PB30 IO2:PD8 IO3:PB7 IO4:PC5 IO5:PC4 IO6:PC31}
 # Driver Diag - {D0:PA10, D1:PB8, D2:PA22, D3:PA23, D4:PC21, D5:PB10, D6:PA27}
--- a/config/generic-einsy-rambo.cfg
+++ b/config/generic-einsy-rambo.cfg
@ -95,7 +95,7 @@ max_temp: 130
 [fan]
 pin: PH5

-#[heater_fan nozzle_cooling_fan]
+#[heater_fan heatbreak_cooling_fan]
 #pin: PH3

 [temperature_sensor board_sensor]
--- a/config/generic-fysetc-cheetah-v1.2.cfg
+++ b/config/generic-fysetc-cheetah-v1.2.cfg
@ -97,7 +97,7 @@ max_temp: 130
 [fan]
 pin: PC8

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PB0

 [mcu]
--- a/config/generic-mini-rambo.cfg
+++ b/config/generic-mini-rambo.cfg
@ -65,7 +65,7 @@ max_temp: 130
 [fan]
 pin: PH5

-#[heater_fan nozzle_cooling_fan]
+#[heater_fan heatbreak_cooling_fan]
 #pin: PH3

 [mcu]
--- a/config/generic-printrboard-g2.cfg
+++ b/config/generic-printrboard-g2.cfg
@ -104,7 +104,7 @@ max_temp: 290
 [fan]
 pin: PB27

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PA6

 [mcu]
--- a/config/generic-radds.cfg
+++ b/config/generic-radds.cfg
@ -81,7 +81,7 @@ max_temp: 130
 [fan]
 pin: PC21

-#[heater_fan nozzle_cooling_fan]
+#[heater_fan heatbreak_cooling_fan]
 #pin: PC22

 [mcu]
--- a/config/generic-rambo.cfg
+++ b/config/generic-rambo.cfg
@ -75,7 +75,7 @@ max_temp: 130
 [fan]
 pin: PH5

-#[heater_fan nozzle_cooling_fan]
+#[heater_fan heatbreak_cooling_fan]
 #pin: PH3

 [mcu]
--- a/config/generic-th3d-ezboard-lite-v2.0.cfg
+++ b/config/generic-th3d-ezboard-lite-v2.0.cfg
@ -1,6 +1,6 @@
 # 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.
+# STM32F405 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
--- a/config/printer-anycubic-4maxpro-2.0-2021.cfg
+++ b/config/printer-anycubic-4maxpro-2.0-2021.cfg
@ -11,7 +11,7 @@

 # For Anycubic 4Max Pro (not 2.0) owners:
 #       Be careful when using this config! This config tested only on Anycubic
-#       4Max Pro 2.0 with klipper v0.9.1-667-g31761500! At first, you should
+#       4Max Pro 2.0! At first, you should
 #       set homing_speed on 5, and run homing and click on the endstops with
 #       your fingers. It is necessary to make sure that all the motors are
 #       spinning in the right direction, all the temperature sensors show the
@ -139,3 +139,50 @@ screw4: 265, 5

 [filament_switch_sensor filament_sensor]
 switch_pin: ^!PC4
+
+[output_pin buzz]
+pin: PC6
+pwm: True
+
+[output_pin AUTO_POWEROFF]
+pin: PD0
+pwm: True
+cycle_time: 0.02
+value: 1
+
+
+# This macro (M300) uses internal integrated beeper
+# Just use it in your G-code for making sounds. Example: M300 S1000 P500
+[gcode_macro M300]
+gcode:
+    {% set S = params.S|default(800)|float %}
+    {% set P = params.P|default(100)|int %}
+    SET_PIN PIN=buzz VALUE=0.5 CYCLE_TIME={ 1.0 / S | float }
+    G4 P{P}
+    SET_PIN PIN=buzz VALUE=0
+
+# This macro (M81) uses internal integrated PSU control-relay.
+# Just use M81 in your end_gcode if you want to poweroff your printer after print.
+# Note: as in original Marlin firmware, before powerdown, printer will be cool hotend
+# until temperature will be below 45°С / 113°F.
+
+[gcode_macro M81]
+gcode:
+    {% set required_extruder_temp = params.T|default(45)|int %}
+    {% if printer.extruder.temperature > required_extruder_temp|default(45)|int %}
+            M300
+            M300
+            M300
+            M117 COOLING DOWN BEFORE POWER OFF
+            M109 S{required_extruder_temp}
+            SET_PIN PIN=AUTO_POWEROFF VALUE=0.5
+            G4 P60
+            SET_PIN PIN=AUTO_POWEROFF VALUE=1
+    {% else %}
+            M300
+            M117 POWER OFF SOON
+            G4 P10000
+            SET_PIN PIN=AUTO_POWEROFF VALUE=0.5
+            G4 P60
+            SET_PIN PIN=AUTO_POWEROFF VALUE=1
+    {% endif %}
--- a/config/printer-biqu-b1-se-plus-2022.cfg
+++ b/config/printer-biqu-b1-se-plus-2022.cfg
@ -0,0 +1,194 @@
+# This file contains common pin mappings for the Biqu B1 SE Plus.
+# To use this config, the firmware should be compiled for the
+# STM32F407 with a "32KiB bootloader".
+
+# In newer versions of this board shipped in late 2021 the STM32F429
+# is used, if this is the case compile for this with a "32KiB bootloader"
+# You will need to check the chip on your board to identify which you have.
+#
+# The "make flash" command does not work on the SKR 2. 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 2
+# with that SD card.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[mcu]
+serial: /dev/serial/by-id/usb-Klipper_stm32f407xx_1D0039000F47393438343535-if00
+
+########################################
+# Stepper X Pins and TMC2208 configuration
+########################################
+[stepper_x]
+step_pin: PE2
+dir_pin: !PE1
+enable_pin: !PE3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PC1
+position_endstop: 0
+position_max: 310
+homing_speed: 50
+
+[tmc2208 stepper_x]
+uart_pin: PE0
+run_current: 0.800
+stealthchop_threshold: 999999
+
+########################################
+# Stepper Y Pins and TMC2208 configuration
+########################################
+[stepper_y]
+step_pin: PD5
+dir_pin: PD4
+enable_pin: !PD6
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PC3
+position_endstop: 0
+position_max: 310
+homing_speed: 50
+
+[tmc2208 stepper_y]
+uart_pin: PD3
+run_current: 0.800
+stealthchop_threshold: 999999
+
+########################################
+# Stepper Z Pins and TMC2208 configuration
+########################################
+[stepper_z]
+step_pin: PA15
+dir_pin: PA8
+enable_pin: !PD1
+microsteps: 16
+rotation_distance: 8
+endstop_pin: probe:z_virtual_endstop
+homing_speed: 10
+second_homing_speed: 1
+position_min: -2
+position_max: 340
+
+[tmc2208 stepper_z]
+uart_pin: PD0
+run_current: 0.800
+stealthchop_threshold: 999999
+
+########################################
+# Extruder Pins and TMC2208 configuration
+########################################
+[extruder]
+step_pin: PD15
+dir_pin: !PD14
+enable_pin: !PC7
+microsteps: 16
+rotation_distance: 34.2152 # Calibrar - ver https://www.klipper3d.org/Rotation_Distance.html
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB3
+sensor_type: Generic 3950
+sensor_pin: PA2 #thermistor pin
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[tmc2208 extruder]
+uart_pin: PC6
+run_current: 0.800
+stealthchop_threshold: 999999
+
+########################################
+# Heater Bed Pins
+########################################
+[heater_bed]
+heater_pin: PD7
+sensor_type: Generic 3950
+sensor_pin: PA1
+control: pid
+pid_Kp: 54
+pid_Ki: 0.77
+pid_Kd: 900
+min_temp: 0
+max_temp: 110
+
+########################################
+# Printer Configuration
+########################################
+[printer]
+kinematics: cartesian
+max_velocity: 200
+max_accel: 1000
+max_z_velocity: 5
+max_z_accel: 100
+
+########################################
+# Probe configuration
+########################################
+[probe]
+pin: ^!PE4
+z_offset: 0.0
+x_offset: 0.0
+y_offset: 0.0
+speed: 10.0
+samples: 2
+samples_result: average
+sample_retract_dist: 2.0
+samples_tolerance: 0.2
+
+[safe_z_home]
+home_xy_position: 155,155
+speed: 100
+z_hop: 5
+z_hop_speed: 5
+
+[output_pin probe_enable]
+pin: PE5
+value: 1
+
+########################################
+# Bed Mesh configuration
+########################################
+[bed_mesh]
+speed: 2000
+horizontal_move_z: 3
+mesh_min: 20, 20
+mesh_max: 290, 290
+probe_count: 7, 7
+mesh_pps: 2,2
+algorithm: bicubic
+bicubic_tension: 0.2
+
+########################################
+# Fan Nozzle configuration
+########################################
+[fan]
+pin: PB7
+
+[heater_fan Cooling_fan]
+pin: PB6
+max_power: 1.0
+kick_start_time: 0.100
+heater: heater_bed
+
+[heater_fan Board_fan]
+pin: PB5
+max_power: 1.0
+kick_start_time: 0.100
+heater: extruder
+
+########################################
+# Filament Sensor configuration
+########################################
+[filament_switch_sensor Sensor_Filamento]
+switch_pin: !PC2
+pause_on_runout: true #pause handled by macro
+
+########################################
+# Motor Power Pin
+########################################
+[output_pin motor_power]
+pin: PC13
+value: 1
--- a/config/printer-bq-hephestos-2014.cfg
+++ b/config/printer-bq-hephestos-2014.cfg
@ -0,0 +1,107 @@
+# This file contains pin mappings for the BQ Prusa i3 Hephestos from 2014
+# (https://www.reprap.org/wiki/Prusa_i3_Hephestos)
+# It was sold in kit form, and uses a RAMPS board with HD44780 display without
+# heated bed or any modern amenities.
+
+# To use this config, the firmware should be compiled for the AVR atmega2560.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[display]
+lcd_type: hd44780
+rs_pin: PH1
+e_pin: PH0
+d4_pin: PA1
+d5_pin: PA3
+d6_pin: PA5
+d7_pin: PA7
+encoder_pins: ^PC4, ^PC6
+click_pin:  ^!PC2
+kill_pin: ^!PG0
+
+[stepper_x]
+step_pin: PF0
+dir_pin: !PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^!PE5
+position_endstop: 0
+position_max: 215
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^!PJ1
+position_endstop: 0
+position_max: 210
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: !PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 0.8
+endstop_pin: ^!PD3
+position_endstop: 0
+position_max: 200
+homing_speed: 3
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+# measured extruding 100mm of filament with stock Hephestos extruder
+rotation_distance: 31.825
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+min_temp: 0
+max_temp: 250
+control: pid
+pid_kp: 19.462
+pid_ki: 0.713
+pid_kd: 132.830
+
+
+# 5 points for manual bed leveling that still leave room for accessing the stock screws
+[bed_screws]
+screw1: 40, 40
+screw2: 180, 40
+screw3: 180, 160
+screw4: 40, 160
+screw5: 110, 100
+
+[fan]
+pin: PH6
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+# Must limit Z velocity, since RAMPS does not have enough timer resolution
+max_z_velocity: 3
+max_z_accel: 100
+
+[mcu]
+serial: /dev/ttyUSB0
+
+# Common EXP1 / EXP2 (display) pins
+[board_pins]
+aliases:
+    # Common EXP1 header found on many "all-in-one" ramps clones
+    EXP1_1=PC0, EXP1_3=PH0, EXP1_5=PA1, EXP1_7=PA5, EXP1_9=<GND>,
+    EXP1_2=PC2, EXP1_4=PH1, EXP1_6=PA3, EXP1_8=PA7, EXP1_10=<5V>,
+    # EXP2 header
+    EXP2_1=PB3, EXP2_3=PC6, EXP2_5=PC4, EXP2_7=PL0, EXP2_9=<GND>,
+    EXP2_2=PB1, EXP2_4=PB0, EXP2_6=PB2, EXP2_8=PG0, EXP2_10=<RST>
+    # Pins EXP2_1, EXP2_6, EXP2_2 are also MISO, MOSI, SCK of bus "spi"
+    # Note, some boards wire: EXP2_8=<RST>, EXP2_10=PG0
--- a/config/printer-creality-cr10-v3-2020.cfg
+++ b/config/printer-creality-cr10-v3-2020.cfg
@ -0,0 +1,162 @@
+# This file contains common pin mappings for the 2020 Creality CR-10
+# V3. The mainboard is a Creality 3D v2.5.2 (8-bit mainboard with
+# ATMega2560). To use this config, the firmware should be compiled for
+# the AVR atmega2560.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+# For better compatibility with GCodes generated for Marlin, you
+# may wish to add the following section, if you have BLTouch:
+#[gcode_macro G29]
+#gcode:
+#    BED_MESH_CALIBRATE
+
+[stepper_x]
+step_pin: PF0 #ar54
+dir_pin: PF1 #ar55
+enable_pin: !PD7 #!ar38
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5 #^ar3
+position_endstop: 0
+position_max: 300
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6 #ar60
+dir_pin: PF7 #ar61
+enable_pin: !PF2 #!ar56
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1 #^ar14
+position_endstop: 0
+position_max: 300
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3 #ar46
+dir_pin: !PL1 #!ar48
+enable_pin: !PK0 #!ar62
+microsteps: 16
+rotation_distance: 8
+position_max: 400
+#Uncomment if you have a BL-Touch:
+#position_min: -4
+#endstop_pin: probe:z_virtual_endstop
+#and comment the follwing lines:
+position_endstop: 0.0
+endstop_pin: ^PD3 #ar18
+
+[safe_z_home]
+home_xy_position: 104.25,147.6
+speed: 80
+z_hop: 10
+z_hop_speed: 10
+
+[extruder]
+step_pin: PA4 # ar26
+dir_pin: !PA6 # !ar28
+enable_pin: !PA2 # !ar24
+microsteps: 16
+rotation_distance: 7.7201944 # 16 microsteps * 200 steps/rotation / steps/mm
+#Correction formula is new_rotation_distance = old_rotation_distance * mmsExtracted / 100.0
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4 #ar10
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5 #analog13
+control: pid
+pid_kp: 22.107
+pid_ki: 1.170
+pid_kd: 104.458
+min_temp: 0
+max_temp: 255
+
+[heater_bed]
+heater_pin: PH5 #ar8
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: PK6 #analog14
+control: pid
+#Stock PID configuration taken from Marlin
+pid_Kp: 201.86
+pid_Ki: 10.67
+pid_Kd: 954.96
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PH6 #ar9
+
+[mcu]
+serial: /dev/ttyUSB0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[display]
+lcd_type: st7920
+cs_pin: PH1 #ar16
+sclk_pin: PA1 #ar23
+sid_pin: PH0 #ar17
+encoder_pins: ^PC4, ^PC6 #^ar33, ^ar31
+click_pin: ^!PC2 #^!ar35
+
+
+#Uncomment the following lines if you have a BL-Touch
+#[bltouch]
+#sensor_pin: ^PD2 #^ar19
+#control_pin: PB5 #ar11
+#set_output_mode: 5V
+#pin_move_time: 0.4
+#stow_on_each_sample: False
+#probe_with_touch_mode: False
+#x_offset: 45.75
+#y_offset: -3.40
+#z_offset:  3.28
+#samples: 2
+#sample_retract_dist: 2
+#samples_result: average
+
+#Uncomment the following lines if you have a BL-Touch
+#[bed_mesh]
+#speed: 50
+#horizontal_move_z: 6
+#mesh_min: 46.50,0.75
+#mesh_max: 253.5,295.85
+#probe_count: 7,7
+#algorithm: bicubic
+
+[pause_resume]
+recover_velocity: 50
+
+[filament_switch_sensor fil_runout_sensor]
+pause_on_runout: True
+switch_pin: PE4 #ar2
+
+[bed_screws]
+screw1: 33,29
+screw1_name: front left screw
+screw2: 273,29
+screw2_name: front right screw
+screw3: 273,269
+screw3_name: rear right screw
+screw4: 33,269
+screw4_name: rear left screw
+
+#Uncomment the following lines if you have a BL-Touch
+#[screws_tilt_adjust]
+#screw1: 0,29
+#screw1_name: front left screw
+#screw2: 228,29
+#screw2_name: front right screw
+#screw3: 228,269
+#screw3_name: rear right screw
+#screw4: 0,269
+#screw4_name: rear left screw
+#speed: 50
+#horizontal_move_z: 10
+#screw_thread: CW-M3
--- a/config/printer-creality-ender3-s1-2021.cfg
+++ b/config/printer-creality-ender3-s1-2021.cfg
@ -0,0 +1,131 @@
+# This file contains pin mappings for the stock 2021 Creality Ender 3
+# S1 (and S1 pro). To use this config, check the STM32 Chip on the
+# V2.4S1 Board then during "make menuconfig" select either the
+# STM32F103 with a "28KiB bootloader" or select the STM32F401 with a
+# "64KiB bootloader" and serial (on USART1 PA10/PA9) communication for
+# both depending on the STM32 chip installed on your printer's
+# motherboard.
+
+# If you prefer a direct serial connection, in "make menuconfig"
+# select "Enable extra low-level configuration options" and select
+# Serial (on USART2 PA3/PA2), 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 changed to "firmware.bin"
+
+# 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: -10
+position_max: 235
+position_min: -15
+homing_speed: 50
+
+[stepper_y]
+step_pin: PB8
+dir_pin: PB7
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 40
+endstop_pin: !PA6
+position_endstop: -10
+position_max: 241
+position_min: -15
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB6
+dir_pin: !PB5
+enable_pin: !PC3
+microsteps: 16
+rotation_distance: 8
+endstop_pin: probe:z_virtual_endstop
+position_max: 270
+position_min: -4
+
+[extruder]
+step_pin: PB4
+dir_pin: PB3
+enable_pin: !PC3
+microsteps: 16
+gear_ratio: 42:12
+rotation_distance: 26.359
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PA1
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC5
+control: pid
+pid_Kp: 23.561
+pid_Ki: 1.208
+pid_Kd: 114.859
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PA7
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC4
+control: pid
+pid_Kp: 71.867
+pid_Ki: 1.536
+pid_Kd: 840.843
+min_temp: 0
+max_temp: 110
+
+[heater_fan hotend_fan]
+pin: PC0
+
+[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: 2000
+max_z_velocity: 5
+max_z_accel: 100
+
+[bltouch]
+sensor_pin: ^PC14
+control_pin: PC13
+x_offset: -31.8
+y_offset: -40.5
+z_offset: 0
+probe_with_touch_mode: true
+stow_on_each_sample: false
+
+[bed_mesh]
+speed: 120
+mesh_min: 20, 20
+mesh_max: 200, 200
+probe_count: 4,4
+algorithm: bicubic
+
+[safe_z_home]
+home_xy_position: 147, 154
+speed: 75
+z_hop: 5
+z_hop_speed: 5
+move_to_previous: true
+
+[filament_switch_sensor e0_sensor]
+switch_pin: !PC15
+pause_on_runout: true
+runout_gcode: PAUSE
+
+[pause_resume]
+recover_velocity: 25
--- a/config/printer-creality-sermoonV1-2022.cfg
+++ b/config/printer-creality-sermoonV1-2022.cfg
@ -0,0 +1,109 @@
+# This file contains pin mappings for the Creality Sermoon V1
+# with CR-FDM-v2.4.S1.200 motherboard.
+
+# To use this config, during "make menuconfig" select the STM32F401
+# with a "64KiB 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 USART2 PA3/PA2), 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 changed to "firmware.bin"
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_x]
+step_pin: PA7
+dir_pin: !PA4
+enable_pin: !PB8
+microsteps: 16
+rotation_distance: 40
+endstop_pin: PC4
+position_endstop: 175
+position_max: 175
+position_min: 0
+homing_speed: 50
+
+[stepper_y]
+step_pin: PB0
+dir_pin: PB10
+enable_pin: !PB8
+microsteps: 16
+rotation_distance: 40
+endstop_pin:  PB13
+position_endstop: 0
+position_max: 175
+position_min: 0
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB7
+dir_pin: PB6
+enable_pin: !PB8
+microsteps: 16
+rotation_distance: 8
+endstop_pin:  PB3
+position_endstop: 165
+position_max: 168
+position_min: -3
+
+[extruder]
+step_pin: PB1
+dir_pin: PB12
+enable_pin: !PB8
+microsteps: 16
+gear_ratio: 42:12
+rotation_distance: 26.359
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PC5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC1
+control: pid
+pid_Kp: 30.090
+pid_Ki: 1.875
+pid_Kd: 120.735
+min_temp: 0
+max_temp: 290
+
+[heater_bed]
+heater_pin: PB9
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PC0
+control: pid
+pid_Kp: 75.694
+pid_Ki: 1.160
+pid_Kd: 1234.759
+min_temp: 0
+max_temp: 90
+
+[fan]
+pin: PA5
+
+[fan_generic side_fan]
+pin: PC15
+
+# [controller_fan controller_fan]
+# In order to access the controller fan, the controller fan needs to be plugged
+# in another location. See https://github.com/Klipper3d/klipper/pull/5621
+# for more information.
+# pin: PB4
+
+[mcu]
+serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
+restart_method: command
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 2000
+max_z_velocity: 5
+max_z_accel: 100
+
+[pause_resume]
+recover_velocity: 25
--- a/config/printer-eryone-er20-2021.cfg
+++ b/config/printer-eryone-er20-2021.cfg
@ -112,7 +112,7 @@ max_temp: 100
 [fan]
 pin: PB5

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PB4

 [mcu]
--- a/config/printer-eryone-thinker-series-v2-2020.cfg
+++ b/config/printer-eryone-thinker-series-v2-2020.cfg
@ -67,7 +67,7 @@ max_extrude_only_distance: 300
 [fan]
 pin: PH5

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PH3

 [heater_bed]
--- a/config/printer-lulzbot-mini1-2016.cfg
+++ b/config/printer-lulzbot-mini1-2016.cfg
@ -114,7 +114,7 @@ max_temp: 130
 #define FAN_PIN             8
 pin: PH5

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 #define FAN1_PIN            6
 pin: PH3

--- a/config/printer-lulzbot-taz6-2017.cfg
+++ b/config/printer-lulzbot-taz6-2017.cfg
@ -97,7 +97,7 @@ max_temp: 130
 [fan]
 pin: PH5

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PH3

 [mcu]
--- a/config/printer-lulzbot-taz6-dual-v3-2017.cfg
+++ b/config/printer-lulzbot-taz6-dual-v3-2017.cfg
@ -128,7 +128,7 @@ max_temp: 130
 #On Dual v3 heat break fan is connected to PH3 (part cooling fan on single extruder)
 pin: PH3

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 #On Dual v3 part fans are connected to PH5 (heat break fan on single extruder)
 pin: PH5

--- a/config/printer-makergear-m2-2016.cfg
+++ b/config/printer-makergear-m2-2016.cfg
@ -70,7 +70,7 @@ max_temp: 90
 [fan]
 pin: PH5

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PH3

 [mcu]
--- a/config/printer-mtw-create-2015.cfg
+++ b/config/printer-mtw-create-2015.cfg
@ -104,7 +104,7 @@ mesh_max: 225, 225
 [fan]
 pin: PH5

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PH3

 [mcu]
--- a/config/printer-seemecnc-rostock-max-v2-2015.cfg
+++ b/config/printer-seemecnc-rostock-max-v2-2015.cfg
@ -63,7 +63,7 @@ max_temp: 300
 [fan]
 pin: PH5

-[heater_fan nozzle_cooling_fan]
+[heater_fan heatbreak_cooling_fan]
 pin: PH4
 heater: extruder

--- a/config/sample-bigtreetech-ebb-canbus-v1.0.cfg
+++ b/config/sample-bigtreetech-ebb-canbus-v1.0.cfg
@ -0,0 +1,66 @@
+# This file contains common pin mappings for the BIGTREETECH EBBCan
+# Canbus board. To use this config, the firmware should be compiled for the
+# STM32F072 with "8 MHz crystal" and "USB (on PA11/PA12)" or "CAN bus (on PB8/PB9)".
+# The "EBB Can" micro-controller will be used to control the components on the nozzle.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[mcu EBBCan]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+#canbus_uuid: 0e0d81e4210c
+
+[adxl345]
+cs_pin: EBBCan: PB12
+spi_bus: spi2
+axes_map: x,y,z
+
+[extruder]
+step_pin: EBBCan: PA9
+dir_pin: !EBBCan: PA8
+enable_pin: !EBBCan: PA10
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: EBBCan: PB1
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: EBBCan: PA0
+control: pid
+pid_Kp: 21.527
+pid_Ki: 1.063
+pid_Kd: 108.982
+min_temp: 0
+max_temp: 250
+
+#sensor_type:MAX31865
+#sensor_pin: EBBCan: PA15
+#spi_bus: spi1a
+#rtd_nominal_r: 100
+#rtd_reference_r: 430
+#rtd_num_of_wires: 2
+
+[tmc2209 extruder]
+uart_pin: EBBCan: PA13
+run_current: 0.650
+stealthchop_threshold: 999999
+
+[fan]
+pin: EBBCan: PA1
+
+[heater_fan hotend_fan]
+pin: EBBCan: PA2
+heater: extruder
+heater_temp: 50.0
+
+#[neopixel hotend_rgb]
+#pin: EBBCan:PA3
+
+#[bltouch]
+#sensor_pin: ^EBBCan:PA5
+#control_pin: EBBCan:PA4
+
+#[filament_switch_sensor switch_sensor]
+#switch_pin: EBBCan:PB6
+
+#[filament_motion_sensor motion_sensor]
+#switch_pin: ^EBBCan:PB7
--- a/config/sample-bigtreetech-ebb-canbus-v1.1.cfg
+++ b/config/sample-bigtreetech-ebb-canbus-v1.1.cfg
@ -0,0 +1,68 @@
+# This file contains common pin mappings for the BIGTREETECH EBBCan
+# Canbus board. To use this config, the firmware should be compiled for the
+# STM32G0B1 with "8 MHz crystal" and "USB (on PA11/PA12)" or "CAN bus (on PB0/PB1)".
+# The "EBB Can" micro-controller will be used to control the components on the nozzle.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[mcu EBBCan]
+serial: /dev/serial/by-id/usb-Klipper_Klipper_firmware_12345-if00
+#canbus_uuid: 0e0d81e4210c
+
+[adxl345]
+cs_pin: EBBCan: PB12
+spi_software_sclk_pin: EBBCan: PB10
+spi_software_mosi_pin: EBBCan: PB11
+spi_software_miso_pin: EBBCan: PB2
+axes_map: x,y,z
+
+[extruder]
+step_pin: EBBCan: PD0
+dir_pin: !EBBCan: PD1
+enable_pin: !EBBCan: PD2
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: EBBCan: PA2
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: EBBCan: PA3
+control: pid
+pid_Kp: 21.527
+pid_Ki: 1.063
+pid_Kd: 108.982
+min_temp: 0
+max_temp: 250
+
+# sensor_type:MAX31865
+# sensor_pin: EBBCan: PA4
+# spi_bus: spi1
+# rtd_nominal_r: 100
+# rtd_reference_r: 430
+# rtd_num_of_wires: 2
+
+[tmc2209 extruder]
+uart_pin: EBBCan: PA15
+run_current: 0.650
+stealthchop_threshold: 999999
+
+[fan]
+pin: EBBCan: PA0
+
+[heater_fan hotend_fan]
+pin: EBBCan: PA1
+heater: extruder
+heater_temp: 50.0
+
+#[neopixel hotend_rgb]
+#pin: EBBCan:PD3
+
+#[bltouch]
+#sensor_pin: ^EBBCan:PB8
+#control_pin: EBBCan:PB9
+
+#[filament_switch_sensor switch_sensor]
+#switch_pin: EBBCan:PB4
+
+#[filament_motion_sensor motion_sensor]
+#switch_pin: ^EBBCan:PB3
--- a/config/sample-huvud-v0.61.cfg
+++ b/config/sample-huvud-v0.61.cfg
@ -0,0 +1,58 @@
+# This file contains common pin mappings for the Huvud V0.61 by Bondus.
+# https://github.com/bondus/Klipperhuvudboard
+# To use this config, copy the contents into your main config file.
+
+# The huvud is not capable of running a printer on it's own. It
+# needs to be paired with another board that will control other
+# aspects of the printer.
+
+# The firmware should be compiled for the STM32F103 with a "2KiB
+# bootloader" and a "8MHz crystal" clock reference.
+# Select CAN bus (on PB8/PB9) or USB under communication interface.
+# Flash by running make flash FLASH_DEVICE=1209:beba
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[mcu huvud]
+canbus_uuid: ac20f0bbda05
+# Identify your canbus_uuid by running:
+# ~/klippy-env/bin/python ~/klipper/scripts/canbus_query.py can0
+
+[extruder]
+step_pin: huvud: PB3
+dir_pin: huvud: PB4
+enable_pin: !huvud: PB5
+rotation_distance: 22.52453125
+nozzle_diameter: 0.400
+filament_diameter: 1.75
+heater_pin: huvud: PA6
+sensor_type: NTC 100K MGB18-104F39050L32
+sensor_pin: huvud: PA0
+pullup_resistor: 2200
+min_temp: 0
+max_temp: 300
+control: pid
+pid_kp: 26.213
+pid_ki: 1.304
+pid_kd: 131.721
+
+[tmc2209 extruder]
+uart_pin: huvud: PA10
+tx_pin: huvud: PA9
+run_current: 0.35
+
+[probe]
+pin: huvud: PB12
+z_offset: 0
+
+[fan]
+pin: huvud: PA8
+
+[heater_fan extruder_fan]
+pin: huvud: PA7
+
+[adxl345]
+cs_pin: PB1
+
+[led huvud_led]
+blue_pin: huvud: PC13
--- a/config/sample-lcd.cfg
+++ b/config/sample-lcd.cfg
@ -95,6 +95,21 @@ click_pin: ^!EXP1_2
 pin: EXP1_1


+########################################################################################
+# Anet 128x64 LCD with alternative wiring (ANET_FULL_GRAPHICS_LCD_ALT_WIRING in Marlin)
+########################################################################################
+
+[display]
+lcd_type: st7920
+cs_pin: EXP1_8
+sclk_pin: EXP1_4
+sid_pin: EXP1_6
+encoder_pins: ^!EXP1_7, ^!EXP1_5
+click_pin: ^!EXP1_3
+
+[output_pin beeper]
+pin: EXP1_1
+
 ######################################################################
 # Fysetc Mini 12864Panel v2.1 (with neopixel backlight leds)
 ######################################################################
--- a/config/sample-macros.cfg
+++ b/config/sample-macros.cfg
@ -175,6 +175,29 @@ gcode:
            sensor.temperature,
            sensor.humidity))}

+######################################################################
+# Override M117 command with rawparams
+######################################################################
+
+# The macro below will override the default M117 command to echo the message.
+#
+# It uses the rawparams pseudo-variable that contains the full unparsed
+# parameters that was passed to the M117 command.
+#
+# As this can include comments, we are trimming the text when a `;` or `#` is
+# found, and escaping any existing `"`
+
+[gcode_macro M117]
+rename_existing: M117.1
+gcode:
+  {% if rawparams %}
+    {% set escaped_msg = rawparams.split(';', 1)[0].split('\x23', 1)[0]|replace('"', '\\"') %}
+    SET_DISPLAY_TEXT MSG="{escaped_msg}"
+    RESPOND TYPE=command MSG="{escaped_msg}"
+  {% else %}
+    SET_DISPLAY_TEXT
+  {% endif %}
+
 # SDCard 'looping' (aka Marlin M808 commands) support
 #
 # Support SDCard looping
@ -186,3 +209,55 @@ gcode:
    {% if params.K is not defined and params.L is defined %}SDCARD_LOOP_BEGIN COUNT={params.L|int}{% endif %}
    {% if params.K is not defined and params.L is not defined %}SDCARD_LOOP_END{% endif %}
    {% if params.K is defined and params.L is not defined %}SDCARD_LOOP_DESIST{% endif %}
+
+# Cancel object (aka Marlin/RRF M486 commands) support
+#
+# Enable object exclusion
+[exclude_object]
+
+[gcode_macro M486]
+gcode:
+  # Parameters known to M486 are as follows:
+  #   [C<flag>] Cancel the current object
+  #   [P<index>] Cancel the object with the given index
+  #   [S<index>] Set the index of the current object.
+  #       If the object with the given index has been canceled, this will cause
+  #       the firmware to skip to the next object. The value -1 is used to
+  #       indicate something that isn’t an object and shouldn’t be skipped.
+  #   [T<count>] Reset the state and set the number of objects
+  #   [U<index>] Un-cancel the object with the given index. This command will be
+  #       ignored if the object has already been skipped
+
+  {% if 'exclude_object' not in printer %}
+    {action_raise_error("[exclude_object] is not enabled")}
+  {% endif %}
+
+  {% if 'T' in params %}
+    EXCLUDE_OBJECT RESET=1
+
+    {% for i in range(params.T | int) %}
+      EXCLUDE_OBJECT_DEFINE NAME={i}
+    {% endfor %}
+  {% endif %}
+
+  {% if 'C' in params %}
+    EXCLUDE_OBJECT CURRENT=1
+  {% endif %}
+
+  {% if 'P' in params %}
+    EXCLUDE_OBJECT NAME={params.P}
+  {% endif %}
+
+  {% if 'S' in params %}
+    {% if params.S == '-1' %}
+      {% if printer.exclude_object.current_object %}
+        EXCLUDE_OBJECT_END NAME={printer.exclude_object.current_object}
+      {% endif %}
+    {% else %}
+      EXCLUDE_OBJECT_START NAME={params.S}
+    {% endif %}
+  {% endif %}
+
+  {% if 'U' in params %}
+    EXCLUDE_OBJECT RESET=1 NAME={params.U}
+  {% endif %}
--- a/docs/CANBUS.md
+++ b/docs/CANBUS.md
@ -4,9 +4,9 @@ This document describes Klipper's CAN bus support.

 ## Device Hardware

-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.
+Klipper currently supports CAN on stm32 and rp2040 chips. In addition,
+the micro-controller chip must be on a board that has a CAN
+transceiver.

 To compile for CAN, run `make menuconfig` and select "CAN bus" as the
 communication interface. Finally, compile the micro-controller code
@ -73,7 +73,7 @@ powered and wired correctly, and then run:
 If uninitialized CAN devices are detected the above command will
 report lines like the following:
 ```
-Found canbus_uuid=11aa22bb33cc
+Found canbus_uuid=11aa22bb33cc, Application: Klipper
 ```

 Each device will have a unique identifier. In the above example,
@ -91,3 +91,40 @@ the CAN bus to communicate with the device - for example:
 [mcu my_can_mcu]
 canbus_uuid: 11aa22bb33cc
 ```
+
+## USB to CAN bus bridge mode
+
+Some micro-controllers support selecting "USB to CAN bus bridge" mode
+during "make menuconfig". This mode may allow one to use a
+micro-controller as both a "USB to CAN bus adapter" and as a Klipper
+node.
+
+When Klipper uses this mode the micro-controller appears as a "USB CAN
+bus adapter" under Linux. The "Klipper bridge mcu" itself will appear
+as if was on this CAN bus - it can be identified via `canbus_query.py`
+and configured like other CAN bus Klipper nodes. It will appear
+alongside other devices that are actually on the CAN bus.
+
+Some important notes when using this mode:
+
+* The "bridge mcu" is not actually on the CAN bus. Messages to and
+  from it do not consume bandwidth on the CAN bus. The mcu can not be
+  seen by other adapters that may be on the CAN bus.
+
+* It is necessary to configure the `can0` (or similar) interface in
+  Linux in order to communicate with the bus. However, Linux CAN bus
+  speed and CAN bus bit-timing options are ignored by Klipper.
+  Currently, the CAN bus frequency is specified during "make
+  menuconfig" and the bus speed specified in Linux is ignored.
+
+* Whenever the "bridge mcu" is reset, Linux will disable the
+  corresponding `can0` interface. To ensure proper handling of
+  FIRMWARE_RESTART and RESTART commands, it is recommended to replace
+  `auto` with `allow-hotplug` in the `/etc/network/interfaces.d/can0`
+  file. For example:
+```
+allow-hotplug can0
+iface can0 can static
+    bitrate 500000
+    up ifconfig $IFACE txqueuelen 128
+```
--- a/docs/CANBUS_protocol.md
+++ b/docs/CANBUS_protocol.md
@ -38,23 +38,23 @@ with a RESP_NEED_NODEID response message.
 The CMD_QUERY_UNASSIGNED message format is:
 `<1-byte message_id = 0x00>`

-### CMD_SET_NODEID message
+### CMD_SET_KLIPPER_NODEID message

 This command assigns a `canbus_nodeid` to the micro-controller with a
 given `canbus_uuid`.

-The CMD_SET_NODEID message format is:
+The CMD_SET_KLIPPER_NODEID message format is:
 `<1-byte message_id = 0x01><6-byte canbus_uuid><1-byte canbus_nodeid>`

 ### RESP_NEED_NODEID message

 The RESP_NEED_NODEID message format is:
-`<1-byte message_id = 0x20><6-byte canbus_uuid>`
+`<1-byte message_id = 0x20><6-byte canbus_uuid><1-byte set_klipper_nodeid = 0x01>`

 ## Data Packets

 A micro-controller that has been assigned a nodeid via the
-CMD_SET_NODEID command can send and receive data packets.
+CMD_SET_KLIPPER_NODEID command can send and receive data packets.

 The packet data in messages using the node's receive CAN bus id
 (`canbus_nodeid * 2 + 256`) are simply appended to a buffer, and when
--- a/docs/Command_Templates.md
+++ b/docs/Command_Templates.md
@ -130,17 +130,13 @@ gcode:

 ### The "rawparams" variable

-The full unparsed parameters for the running macro can be access via the `rawparams` pseudo-variable.
+The full unparsed parameters for the running macro can be access via the
+`rawparams` pseudo-variable.

-This is quite useful if you want to change the behavior of certain commands like the `M117`. For example:
+Note that this will include any comments that were part of the original command.

-```
-[gcode_macro M117]
-rename_existing: M117.1
-gcode:
-  M117.1 { rawparams }
-  M118 { rawparams }
-```
+See the [sample-macros.cfg](../config/sample-macros.cfg) file for an example
+showing how to override the `M117` command using `rawparams`.

 ### The "printer" Variable

--- a/docs/Config_Changes.md
+++ b/docs/Config_Changes.md
@ -8,6 +8,16 @@ All dates in this document are approximate.

 ## Changes

+20220616: It was previously possible to flash an rp2040 in bootloader
+mode by running `make flash FLASH_DEVICE=first`. The equivalent
+command is now `make flash FLASH_DEVICE=2e8a:0003`.
+
+20220612: The rp2040 micro-controller now has a workaround for the
+"rp2040-e5" USB errata. This should make initial USB connections more
+reliable. However, it may result in a change in behavior for the
+gpio15 pin. It is unlikely the gpio15 behavior change will be
+noticeable.
+
 20220407: The temperature_fan `pid_integral_max` config option has
 been removed (it was deprecated on 20210612).

--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@ -1154,9 +1154,9 @@ home_xy_position:
 #   than z_hop, then this will lift the head to a height of z_hop. If
 #   the Z axis is not already homed the head is lifted by z_hop.
 #   The default is to not implement Z hop.
-#z_hop_speed: 20.0
+#z_hop_speed: 15.0
 #   Speed (in mm/s) at which the Z axis is lifted prior to homing. The
-#   default is 20mm/s.
+#   default is 15 mm/s.
 #move_to_previous: False
 #   When set to True, the X and Y axes are reset to their previous
 #   positions after Z axis homing. The default is False.
@ -1334,6 +1334,9 @@ path:
 #   are not supported). One may point this to OctoPrint's upload
 #   directory (generally ~/.octoprint/uploads/ ). This parameter must
 #   be provided.
+#on_error_gcode:
+#   A list of G-Code commands to execute when an error is reported.
+
 ```

 ### [sdcard_loop]
@ -1432,6 +1435,20 @@ Enable the "M118" and "RESPOND" extended
 #   override the "default_type".
 ```

+### [exclude_object]
+Enables support to exclude or cancel individual objects during the printing
+process.
+
+See the [exclude objects guide](Exclude_Object.md) and
+[command reference](G-Codes.md#excludeobject)
+for additional information. See the
+[sample-macros.cfg](../config/sample-macros.cfg) file for a
+Marlin/RepRapFirmware compatible M486 G-Code macro.
+
+```
+[exclude_object]
+```
+
 ## Resonance compensation

 ### [input_shaper]
@ -1508,6 +1525,24 @@ cs_pin:
 #   measurements.
 ```

+### [mpu9250]
+
+Support for mpu9250 and mpu6050 accelerometers (one may define any
+number of sections with an "mpu9250" prefix).
+
+```
+[mpu9250 my_accelerometer]
+#i2c_address:
+#   Default is 104 (0x68).
+#i2c_mcu:
+#i2c_bus:
+#i2c_speed: 400000
+#   See the "common I2C settings" section for a description of the
+#   above parameters. The default "i2c_speed" is 400000.
+#axes_map: x, y, z
+#   See the "adxl345" section for information on this parameter.
+```
+
 ### [resonance_tester]

 Support for resonance testing and automatic input shaper calibration.
@ -2109,7 +2144,7 @@ temperature sensors that are reported via the M105 command.

 Klipper includes definitions for many types of temperature sensors.
 These sensors may be used in any config section that requires a
-temperature sensor (such as an `[extruder]` or `[heated_bed]`
+temperature sensor (such as an `[extruder]` or `[heater_bed]`
 section).

 ### Common thermistors
@ -4463,6 +4498,22 @@ SPI bus.
 The following parameters are generally available for devices using an
 I2C bus.

+Note that Klipper's current micro-controller support for i2c is
+generally not tolerant to line noise. Unexpected errors on the i2c
+wires may result in Klipper raising a run-time error. Klipper's
+support for error recovery varies between each micro-controller type.
+It is generally recommended to only use i2c devices that are on the
+same printed circuit board as the micro-controller.
+
+Most Klipper micro-controller implementations only support an
+`i2c_speed` of 100000. The Klipper "linux" micro-controller supports a
+400000 speed, but it must be
+[set in the operating system](RPi_microcontroller.md#optional-enabling-i2c)
+and the `i2c_speed` parameter is otherwise ignored. The Klipper
+"rp2040" micro-controller supports a rate of 400000 via the
+`i2c_speed` parameter. All other Klipper micro-controllers use a
+100000 rate and ignore the `i2c_speed` parameter.
+
 ```
 #i2c_address:
 #   The i2c address of the device. This must specified as a decimal
@ -4476,8 +4527,9 @@ I2C bus.
 #   the type of micro-controller.
 #i2c_speed:
 #   The I2C speed (in Hz) to use when communicating with the device.
-#   On some micro-controllers changing this value has no effect. The
-#   default is 100000.
+#   The Klipper implementation on most micro-controllers is hard-coded
+#   to 100000 and changing this value has no effect. The default is
+#   100000.
 ```

 ### Common UART settings
--- a/docs/Exclude_Object.md
+++ b/docs/Exclude_Object.md
@ -0,0 +1,99 @@
+# Exclude Objects
+
+The `[exclude_object]` module allows Klipper to exclude objects while a print is
+in progress. To enable this feature include an [exclude_object config
+section](Config_Reference.md#exclude_object) (also see the [command
+reference](G-Codes.md#exclude-object) and
+[sample-macros.cfg](../config/sample-macros.cfg) file for a
+Marlin/RepRapFirmware compatible M486 G-Code macro.)
+
+Unlike other 3D printer firmware options, a printer running Klipper utilizes a
+suite of components and users have many options to choose from.  Therefore, in
+order to provide a a consistent user experience, the `[exclude_object]` module
+will establish a contract or API of sorts.  The contract covers the contents of
+the gcode file, how the internal state of the module is controlled, and how that
+state is provided to clients.
+
+## Workflow Overview
+A typical workflow for printing a file might look like this:
+1. Slicing is completed and the file is uploaded for printing.  During the
+    upload, the file is processed and `[exclude_object]` markers are added to
+    the file. Alternately, slicers may be configured to prepare object exclusion
+    markers natively, or in it's own pre-processing step.
+2. When printing starts, Klipper will reset the `[exclude_object]`
+   [status](Status_Reference.md#exclude_object).
+3. When Klipper processes the `EXCLUDE_OBJECT_DEFINE` block, it will update the
+   status with the known objects and pass it on to clients.
+4. The client may use that information to present a UI to the user so that
+   progress can be tracked.  Klipper will update the status to include the
+   currently printing object which the client can use for display purposes.
+5. If the user requests that an object be cancelled, the client will issue an
+   `EXCLUDE_OBJECT NAME=<name>` command to Klipper.
+6. When Klipper process the command, it will add the object to the list of
+   excluded objects and update the status for the client.
+7. The client will receive the updated status from Klipper and can use that
+   information to reflect the object's status in the UI.
+8. When printing finishes, the `[exclude_object]` status will continue to be
+   available until another action resets it.
+
+## The GCode File
+The specialized gcode processing needed to support excluding objects does not
+fit into Klipper's core design goals.  Therefore, this module requires that the
+file is processed before being sent to Klipper for printing.  Using a
+post-process script in the slicer or having middleware process the file on
+upload are two possibilities for preparing the file for Klipper. A reference
+post-processing script is available both as an executable and a python library,
+see
+[cancelobject-preprocessor](https://github.com/kageurufu/cancelobject-preprocessor).
+
+### Object Definitions
+
+The `EXCLUDE_OBJECT_DEFINE` command is used to provide a summary of each object
+in the gcode file to be printed.  Provides a summary of an object in the file.
+Objects don't need to be defined in order to be referenced by other commands.
+The primary purpose of this command is to provide information to the UI without
+needing to parse the entire gcode file.
+
+Object definitions are named, to allow users to easily select an object to be
+excluded, and additional metadata may be provided to allow for graphical
+cancellation displays. Currently defined metadata includes a `CENTER` X,Y
+coordinate, and a `POLYGON` list of X,Y points representing a minimal outline of
+the object. This could be a simple bounding box, or a complicated hull for
+showing more detailed visualizations of the printed objects. Especially when
+gcode files include multiple parts with overlapping bounding regions, center
+points become hard to visually distinguish. `POLYGONS` must be a json-compatible
+array of point `[X,Y]` tuples without whitespace. Additional parameters will be
+saved as strings in the object definition and provided in status updates.
+
+`EXCLUDE_OBJECT_DEFINE NAME=calibration_pyramid CENTER=50,50
+POLYGON=[[40,40],[50,60],[60,40]]`
+
+All available G-Code commands are documented in the [G-Code
+Reference](./G-Codes.md#excludeobject)
+
+## Status Information
+The state of this module is provided to clients by the [exclude_object
+status](Status_Reference.md#exclude_object).
+
+The status is reset when:
+- The Klipper firmware is restarted.
+- There is a reset of the `[virtual_sdcard]`.  Notably, this is reset by Klipper
+  at the start of a print.
+- When an `EXCLUDE_OBJECT_DEFINE RESET=1` command is issued.
+
+The list of defined objects is represented in the `exclude_object.objects`
+status field.  In a well defined gcode file, this will be done with
+`EXCLUDE_OBJECT_DEFINE` commands at the beginning of the file.  This will
+provide clients with object names and coordinates so the UI can provide a
+graphical representation of the objects if desired.
+
+As the print progresses, the `exclude_object.current_object` status field will
+be updated as Klipper processes `EXCLUDE_OBJECT_START` and `EXCLUDE_OBJECT_END`
+commands.  The `current_object` field will be set even if the object has been
+excluded. Undefined objects marked with a `EXCLUDE_OBJECT_START` will be added
+to the known objects to assist in UI hinting, without any additional metadata.
+
+As `EXCLUDE_OBJECT` commands are issued, the list of excluded objects is
+provided in the `exclude_object.excluded_objects` array.  Since Klipper looks
+ahead to process upcoming gcode, there may be a delay between when the command
+is issued and when the status is updated.
--- a/docs/FAQ.md
+++ b/docs/FAQ.md
@ -1,34 +1,9 @@
 # Frequently Asked Questions

-1. [How can I donate to the project?](#how-can-i-donate-to-the-project)
-2. [How do I calculate the rotation_distance config parameter?](#how-do-i-calculate-the-rotation_distance-config-parameter)
-3. [Where's my serial port?](#wheres-my-serial-port)
-4. [When the micro-controller restarts the device changes to /dev/ttyUSB1](#when-the-micro-controller-restarts-the-device-changes-to-devttyusb1)
-5. [The "make flash" command doesn't work](#the-make-flash-command-doesnt-work)
-6. [How do I change the serial baud rate?](#how-do-i-change-the-serial-baud-rate)
-7. [Can I run Klipper on something other than a Raspberry Pi 3?](#can-i-run-klipper-on-something-other-than-a-raspberry-pi-3)
-8. [Can I run multiple instances of Klipper on the same host machine?](#can-i-run-multiple-instances-of-klipper-on-the-same-host-machine)
-9. [Do I have to use OctoPrint?](#do-i-have-to-use-octoprint)
-10. [Why can't I move the stepper before homing the printer?](#why-cant-i-move-the-stepper-before-homing-the-printer)
-11. [Why is the Z position_endstop set to 0.5 in the default configs?](#why-is-the-z-position_endstop-set-to-05-in-the-default-configs)
-12. [I converted my config from Marlin and the X/Y axes work fine, but I just get a screeching noise when homing the Z axis](#i-converted-my-config-from-marlin-and-the-xy-axes-work-fine-but-i-just-get-a-screeching-noise-when-homing-the-z-axis)
-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)
-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)
-20. [How do I cancel an M109/M190 "wait for temperature" request?](#how-do-i-cancel-an-m109m190-wait-for-temperature-request)
-21. [Can I find out whether the printer has lost steps?](#can-i-find-out-whether-the-printer-has-lost-steps)
-22. [Why does Klipper report errors? I lost my print!](#why-does-klipper-report-errors-i-lost-my-print)
-23. [How do I upgrade to the latest software?](#how-do-i-upgrade-to-the-latest-software)
-24. [How do I uninstall klipper?](#how-do-i-uninstall-klipper)
-
 ## How can I donate to the project?

-Thanks. Kevin has a Patreon page at:
-[https://www.patreon.com/koconnor](https://www.patreon.com/koconnor)
+Thank you for your support. See the [Sponsors page](Sponsors.md) for
+information.

 ## How do I calculate the rotation_distance config parameter?

--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@ -295,6 +295,11 @@ provides the following standard G-Code commands:
 - Display Message: `M117 <message>`
 - Set build percentage: `M73 P<percent>`

+Also provided is the following extended G-Code command:
+- `SET_DISPLAY_TEXT MSG=<message>`: Performs the equivalent of M117,
+  setting the supplied `MSG` as the current display message.  If
+  `MSG` is omitted the display will be cleared.
+
 ### [dual_carriage]

 The following command is available when the
@ -320,6 +325,57 @@ parameter is provided it arranges for the given endstop phase setting
 to be written to the config file (in conjunction with the SAVE_CONFIG
 command).

+### [exclude_object]
+
+The following commands are available when an
+[exclude_object config section](Config_Reference.md#exclude_object) is
+enabled (also see the [exclude object guide](Exclude_Object.md)):
+
+#### `EXCLUDE_OBJECT`
+`EXCLUDE_OBJECT [NAME=object_name] [CURRENT=1] [RESET=1]`:
+With no parameters, this will return a list of all currently excluded objects.
+
+When the `NAME` parameter is given, the named object will be excluded from
+printing.
+
+When the `CURRENT` parameter is given, the current object will be excluded from
+printing.
+
+When the `RESET` parameter is given, the list of excluded objects will be
+cleared. Additionally including `NAME` will only reset the named object. This
+**can** cause print failures, if layers were already skipped.
+
+#### `EXCLUDE_OBJECT_DEFINE`
+`EXCLUDE_OBJECT_DEFINE [NAME=object_name [CENTER=X,Y] [POLYGON=[[x,y],...]]
+[RESET=1] [JSON=1]`:
+Provides a summary of an object in the file.
+
+With no parameters provided, this will list the defined objects known to
+Klipper. Returns a list of strings, unless the `JSON` parameter is given,
+when it will return object details in json format.
+
+When the `NAME` parameter is included, this defines an object to be excluded.
+
+  - `NAME`: This parameter is required.  It is the identifier used by other
+    commands in this module.
+  - `CENTER`: An X,Y coordinate for the object.
+  - `POLYGON`: An array of X,Y coordinates that provide an outline for the
+    object.
+
+When the `RESET` parameter is provided, all defined objects will be cleared, and
+the `[exclude_object]` module will be reset.
+
+#### `EXCLUDE_OBJECT_START`
+`EXCLUDE_OBJECT_START NAME=object_name`:
+This command takes a `NAME` parameter and denotes the start of the gcode for an
+object on the current layer.
+
+#### `EXCLUDE_OBJECT_END`
+`EXCLUDE_OBJECT_END [NAME=object_name]`:
+Denotes the end of the object's gcode for the layer. It is paired with
+`EXCLUDE_OBJECT_START`. A `NAME` parameter is optional, and will only warn when
+the provided name does not match the current object.
+
 ### [extruder]

 The following commands are available if an
@ -896,23 +952,28 @@ all enabled accelerometer chips.
 #### TEST_RESONANCES
 `TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
 [NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
-[HZ_PER_SEC=<hz_per_sec>] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
+[HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
+[POINT=x,y,z] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
 test in all configured probe points for the requested "axis" and
 measures the acceleration using the accelerometer chips configured for
 the respective axis. "axis" can either be X or Y, or specify an
 arbitrary direction as `AXIS=dx,dy`, where dx and dy are floating
 point numbers defining a direction vector (e.g. `AXIS=X`, `AXIS=Y`, or
 `AXIS=1,-1` to define a diagonal direction). Note that `AXIS=dx,dy`
-and `AXIS=-dx,-dy` is equivalent. If `INPUT_SHAPING=0` or not set
-(default), disables input shaping for the resonance testing, because
+and `AXIS=-dx,-dy` is equivalent. `adxl345_chip_name` can be one or
+more configured adxl345 chip,delimited with comma, for example
+`CHIPS="adxl345, adxl345 rpi"`. Note that `adxl345` can be omitted from
+named adxl345 chips. If POINT is specified it will override the point(s)
+configured in `[resonance_tester]`. If `INPUT_SHAPING=0` or not set(default),
+disables input shaping for the resonance testing, because
 it is not valid to run the resonance testing with the input shaper
 enabled. `OUTPUT` parameter is a comma-separated list of which outputs
 will be written. If `raw_data` is requested, then the raw
 accelerometer data is written into a file or a series of files
-`/tmp/raw_data_<axis>_[<point>_]<name>.csv` with (`<point>_` part of
-the name generated only if more than 1 probe point is configured).  If
-`resonances` is specified, the frequency response is calculated
-(across all probe points) and written into
+`/tmp/raw_data_<axis>_[<chip_name>_][<point>_]<name>.csv` with
+(`<point>_` part of the name generated only if more than 1 probe point
+is configured or POINT is specified). If `resonances` is specified, the
+frequency response is calculated (across all probe points) and written into
 `/tmp/resonances_<axis>_<name>.csv` file. If unset, OUTPUT defaults to
 `resonances`, and NAME defaults to the current time in
 "YYYYMMDD_HHMMSS" format.
@ -949,6 +1010,8 @@ The following additional commands are also available.
  configured default prefix (or `echo: ` if no prefix is configured).
 - `RESPOND TYPE=echo MSG="<message>"`: echo the message prepended with
  `echo: `.
+- `RESPOND TYPE=echo_no_space MSG="<message>"`: echo the message prepended with
+  `echo:` without a space between prefix and message, helpful for compatibility with some octoprint plugins that expect very specific formatting.
 - `RESPOND TYPE=command MSG="<message>"`: echo the message prepended
  with `// `.  OctoPrint can be configured to respond to these messages
  (e.g.  `RESPOND TYPE=command MSG=action:pause`).
@ -979,7 +1042,7 @@ is enabled (also see the
 [manual level guide](Manual_Level.md#adjusting-bed-leveling-screws-using-the-bed-probe)).

 #### SCREWS_TILT_CALCULATE
-`SCREWS_TILT_CALCULATE [DIRECTION=CW|CCW]
+`SCREWS_TILT_CALCULATE [DIRECTION=CW|CCW] [MAX_DEVIATION=<value>]
 [<probe_parameter>=<value>]`: This command will invoke the bed screws
 adjustment tool. It will command the nozzle to different locations (as
 defined in the config file) probing the z height and calculate the
@ -987,7 +1050,9 @@ number of knob turns to adjust the bed level. If DIRECTION is
 specified, the knob turns will all be in the same direction, clockwise
 (CW) or counterclockwise (CCW). See the PROBE command for details on
 the optional probe parameters. IMPORTANT: You MUST always do a G28
-before using this command.
+before using this command. If MAX_DEVIATION is specified, the command
+will raise a gcode error if any difference in the screw height
+relative to the base screw height is greater than the value provided.

 ### [sdcard_loop]

--- a/docs/Measuring_Resonances.md
+++ b/docs/Measuring_Resonances.md
@ -31,6 +31,18 @@ and **will not work**. The recommended connection scheme:
 | SDA | 19 | GPIO10 (SPI0_MOSI) |
 | SCL | 23 | GPIO11 (SPI0_SCLK) |

+An alternative to the ADXL345 is the MPU-9250 (or MPU-6050).  This
+accelerometer has been tested to work over I2C on the RPi at 400kbaud.
+Recommended connection scheme for I2C:
+
+| MPU-9250 pin | RPi pin | RPi pin name |
+|:--:|:--:|:--:|
+| 3V3 (or VCC) | 01 | 3.3v DC power |
+| GND | 09 | Ground |
+| SDA | 03 | GPIO02 (SDA1) |
+| SCL | 05 | GPIO03 (SCL1) |
+
+
 Fritzing wiring diagrams for some of the ADXL345 boards:

 ![ADXL345-Rpi](img/adxl345-fritzing.png)
@ -64,21 +76,21 @@ the system that may damage the electronics.
 ### Software installation

 Note that resonance measurements and shaper auto-calibration require additional
-software dependencies not installed by default. First, you will have to run on
-your Raspberry Pi the following command:
+software dependencies not installed by default. First, run on your Raspberry Pi
+the following commands:
+```
+sudo apt update
+sudo apt install python3-numpy python3-matplotlib libatlas-base-dev
+```
+
+Next, in order to install NumPy in the Klipper environment, run the command:
 ```
 ~/klippy-env/bin/pip install -v numpy
 ```
-to install `numpy` package. Note that, depending on the performance of the
-CPU, it may take *a lot* of time, up to 10-20 minutes. Be patient and wait
-for the completion of the installation. On some occasions, if the board has
-too little RAM, the installation may fail and you will need to enable swap.
-
-Next, run the following commands to install the additional dependencies:
-```
-sudo apt update
-sudo apt install python3-numpy python3-matplotlib
-```
+Note that, depending on the performance of the CPU, it may take *a lot*
+of time, up to 10-20 minutes. Be patient and wait for the completion of
+the installation. On some occasions, if the board has too little RAM
+the installation may fail and you will need to enable swap.

 Afterwards, check and follow the instructions in the
 [RPi Microcontroller document](RPi_microcontroller.md) to setup the
@ -87,7 +99,7 @@ Afterwards, check and follow the instructions in the
 Make sure the Linux SPI driver is enabled by running `sudo
 raspi-config` and enabling SPI under the "Interfacing options" menu.

-Add the following to the printer.cfg file:
+For the ADXL345, add the following to the printer.cfg file:
 ```
 [mcu rpi]
 serial: /tmp/klipper_host_mcu
@ -103,6 +115,23 @@ probe_points:
 It is advised to start with 1 probe point, in the middle of the print bed,
 slightly above it.

+For the MPU-9250, make sure the Linux I2C driver is enabled and the baud rate is
+set to 400000 (see [Enabling I2C](RPi_microcontroller.md#optional-enabling-i2c)
+section for more details). Then, add the following to the printer.cfg:
+```
+[mcu rpi]
+serial: /tmp/klipper_host_mcu
+
+[mpu9250]
+i2c_mcu: rpi
+i2c_bus: i2c.1
+
+[resonance_tester]
+accel_chip: mpu9250
+probe_points:
+    100, 100, 20  # an example
+```
+
 Restart Klipper via the `RESTART` command.

 ## Measuring the resonances
--- a/docs/Overview.md
+++ b/docs/Overview.md
@ -54,6 +54,8 @@ communication with the Klipper developers.
  perfectly square.
 - [PWM tools](Using_PWM_Tools.md): Guide on how to use PWM controlled
  tools such as lasers or spindles.
+- [Exclude Object](Exclude_Object.md): The guide to the Exclude Objecs
+  implementation.

 ## Developer Documentation

--- a/docs/RPi_microcontroller.md
+++ b/docs/RPi_microcontroller.md
@ -69,6 +69,15 @@ Make sure the Linux SPI driver is enabled by running
 `sudo raspi-config` and enabling SPI under the "Interfacing options"
 menu.

+## Optional: Enabling I2C
+
+Make sure the Linux I2C driver is enabled by running `sudo raspi-config`
+and enabling I2C under the "Interfacing options" menu.
+If planning to use I2C for the MPU accelerometer, it is also required
+to set the baud rate to 400000 by: adding/uncommenting
+`dtparam=i2c_arm=on,i2c_arm_baudrate=400000` in `/boot/config.txt`
+(or `/boot/firmware/config.txt` in some distros).
+
 ## Optional: Identify the correct gpiochip

 On Raspberry Pi and on many clones the pins exposed on the GPIO belong
--- a/docs/Sponsors.md
+++ b/docs/Sponsors.md
@ -0,0 +1,40 @@
+# Sponsors
+
+Klipper is Free Software. We depend on the generous support from
+sponsors. Please consider sponsoring Klipper or supporting our
+sponsors.
+
+## BIGTREETECH
+
+[<img src="./img/sponsors/BTT_BTT.png" width="200" />](https://bigtree-tech.com/collections/all-products)
+
+BIGTREETECH is the official mainboard sponsor of Klipper. BIGTREETECH
+is committed to developing innovative and competitive products to
+serve the 3D printing community better. Follow them on
+[Facebook](https://www.facebook.com/BIGTREETECH) or
+[Twitter](https://twitter.com/BigTreeTech).
+
+## Klipper Developers
+
+### Kevin O'Connor
+
+Kevin is the original author and current maintainer of Klipper. Donate
+at: [https://ko-fi.com/koconnor](https://ko-fi.com/koconnor) or
+[https://www.patreon.com/koconnor](https://www.patreon.com/koconnor)
+
+### Eric Callahan
+
+Eric is the author of bed_mesh, spi_flash, and several other Klipper
+modules.  Eric has a donations page at:
+[https://ko-fi.com/arksine](https://ko-fi.com/arksine)
+
+## Related Klipper Projects
+
+Klipper is frequently used with other Free Software. Consider using or
+supporting these projects.
+
+* [Moonraker](https://github.com/Arksine/moonraker)
+* [Mainsail](https://github.com/mainsail-crew/mainsail)
+* [Fluidd](https://github.com/fluidd-core/fluidd)
+* [OctoPrint](https://octoprint.org/)
+* [KlipperScreen](https://github.com/jordanruthe/KlipperScreen)
--- a/docs/Status_Reference.md
+++ b/docs/Status_Reference.md
@ -28,6 +28,17 @@ The following information is available in the
 - `profiles`: The set of currently defined profiles as setup
   using BED_MESH_PROFILE.

+## bed_screws
+
+The following information is available in the
+`Config_Reference.md#bed_screws` object:
+- `is_active`: Returns True if the bed screws adjustment tool is currently
+active.
+- `state`: The bed screws adjustment tool state. It is one of
+the following strings: "adjust", "fine".
+- `current_screw`: The index for the current screw being adjusted.
+- `accepted_screws`: The number of accepted screws.
+
 ## configfile

 The following information is available in the `configfile` object
@ -41,6 +52,8 @@ The following information is available in the `configfile` object
  here.) All values are returned as strings.
 - `save_config_pending`: Returns true if there are updates that a
  `SAVE_CONFIG` command may persist to disk.
+- `save_config_pending_items`: Contains the sections and options that
+  were changed and would be persisted by a `SAVE_CONFIG`.
 - `warnings`: A list of warnings about config options. Each entry in
  the list will be a dictionary containing a `type` and `message`
  field (both strings). Additional fields may be available depending
@ -69,6 +82,44 @@ The following information is available in the
  forward direction minus the total number of steps taken in the
  reverse direction since the micro-controller was last restarted.

+## exclude_object
+
+The following information is available in the
+[exclude_object](Exclude_Object.md) object:
+
+- `objects`:  An array of the known objects as provided by the
+  `EXCLUDE_OBJECT_DEFINE` command.  This is the same information provided by
+  the `EXCLUDE_OBJECT VERBOSE=1` command. The `center` and `polygon` fields will
+  only be present if provided in the original `EXCLUDE_OBJECT_DEFINE`
+
+  Here is a JSON sample:
+```
+[
+  {
+    "polygon": [
+      [ 156.25, 146.2511675 ],
+      [ 156.25, 153.7488325 ],
+      [ 163.75, 153.7488325 ],
+      [ 163.75, 146.2511675 ]
+    ],
+    "name": "CYLINDER_2_STL_ID_2_COPY_0",
+    "center": [ 160, 150 ]
+  },
+  {
+    "polygon": [
+      [ 146.25, 146.2511675 ],
+      [ 146.25, 153.7488325 ],
+      [ 153.75, 153.7488325 ],
+      [ 153.75, 146.2511675 ]
+    ],
+    "name": "CYLINDER_2_STL_ID_1_COPY_0",
+    "center": [ 150, 150 ]
+  }
+]
+```
+- `excluded_objects`: An array of strings listing the names of excluded objects.
+- `current_object`: The name of the object currently being printed.
+
 ## fan

 The following information is available in
@ -204,6 +255,17 @@ The following information is available for each `[led led_name]`,
  chain could be accessed at
  `printer["neopixel <config_name>"].color_data[1][2]`.

+## manual_probe
+
+The following information is available in the
+`manual_probe` object:
+- `is_active`: Returns True if a manual probing helper script is currently
+active.
+- `z_position`: The current height of the nozzle (as the printer currently
+understands it).
+- `z_position_lower`: Last probe attempt just lower than the current height.
+- `z_position_upper`: Last probe attempt just greater than the current height.
+
 ## mcu

 The following information is available in
@ -376,6 +438,8 @@ The following information is available in the `toolhead` object
 - `axis_minimum`, `axis_maximum`: The axis travel limits (mm) after
  homing.  It is possible to access the x, y, z components of this
  limit value (eg, `axis_minimum.x`, `axis_maximum.z`).
+- For Delta printers the `cone_start_z` is the max z height at
+  maximum radius (`printer.toolhead.cone_start_z`).
 - `max_velocity`, `max_accel`, `max_accel_to_decel`,
  `square_corner_velocity`: The current printing limits that are in
  effect. This may differ from the config file settings if a
--- a/docs/_klipper3d/build-translations.sh
+++ b/docs/_klipper3d/build-translations.sh
@ -27,6 +27,16 @@ while IFS="," read dirname langsite langdesc langsearch; do
  new_docs_dir="${WORK_DIR}lang/${langsite}/docs/"
  locale_dir="${TRANS_DIR}/docs/locales/${dirname}"

+  # read toc
+  title=$(sed -n '1p' ${locale_dir}/Navigation.md)
+  installation_and_configuration=$(sed -n '3p' ${locale_dir}/Navigation.md)
+  configuration_reference=$(sed -n '5p' ${locale_dir}/Navigation.md)
+  bed_level=$(sed -n '7p' ${locale_dir}/Navigation.md)
+  resonance_compensation=$(sed -n '9p' ${locale_dir}/Navigation.md)
+  command_template=$(sed -n '11p' ${locale_dir}/Navigation.md)
+  developer_documentation=$(sed -n '13p' ${locale_dir}/Navigation.md)
+  device_specific_documents=$(sed -n '15p' ${locale_dir}/Navigation.md)
+
  # Copy markdown files to new_docs_dir
  echo "Copying $dirname to $langsite"
  mkdir -p "${new_docs_dir}"
@ -56,6 +66,16 @@ while IFS="," read dirname langsite langdesc langsearch; do
  echo "replace site language"
  sed -i "s%^  language: en$%  language: ${langsite}%" "${new_mkdocs_file}"

+  echo "replace toc"
+  sed -i "s%Klipper documentation$%${title}%" "${new_mkdocs_file}"
+  sed -i "s%Installation and Configuration:$%${installation_and_configuration}:%" "${new_mkdocs_file}"
+  sed -i "s%Configuration Reference:$%${configuration_reference}:%" "${new_mkdocs_file}"
+  sed -i "s%Bed Level:$%${bed_level}:%" "${new_mkdocs_file}"
+  sed -i "s%Resonance Compensation:$%${resonance_compensation}:%" "${new_mkdocs_file}"
+  sed -i "s%Command templates:$%${command_template}:%" "${new_mkdocs_file}"
+  sed -i "s%Developer Documentation:$%${developer_documentation}:%" "${new_mkdocs_file}"
+  sed -i "s%Device Specific Documents:$%${device_specific_documents}:%" "${new_mkdocs_file}"
+
  # Build site
  echo "building site for ${langsite}"
  mkdir -p "${PWD}/site/${langsite}/"
--- a/docs/_klipper3d/mkdocs-requirements.txt
+++ b/docs/_klipper3d/mkdocs-requirements.txt
@ -7,3 +7,4 @@ mkdocs-exclude==1.0.2
 mdx-truly-sane-lists==1.2
 mdx-breakless-lists==1.0.1
 py-gfm==1.0.2
+markdown==3.3.7
--- a/docs/_klipper3d/mkdocs.yml
+++ b/docs/_klipper3d/mkdocs.yml
@ -113,6 +113,7 @@ nav:
    - Multi_MCU_Homing.md
    - Slicers.md
    - Skew_Correction.md
+    - Exclude_Object.md
    - Using_PWM_Tools.md
  - Developer Documentation:
    - Code_Overview.md
@ -134,3 +135,4 @@ nav:
    - CANBUS.md
    - TSL1401CL_Filament_Width_Sensor.md
    - Hall_Filament_Width_Sensor.md
+  - Sponsors.md
--- a/docs/img/sponsors/BTT_BTT.png
+++ b/docs/img/sponsors/BTT_BTT.png
--- a/docs/index.md
+++ b/docs/index.md
@ -15,3 +15,4 @@ To begin using Klipper start by [installing](Installation.md) it.

 Klipper is Free Software. Read the [documentation](Overview.md) or
 view [the Klipper code on github](https://github.com/Klipper3d/klipper).
+We depend on the generous support from our [sponsors](Sponsors.md).
--- a/klippy/chelper/init.py
+++ b/klippy/chelper/init.py
@ -168,8 +168,8 @@ defs_serialqueue = """
        , uint64_t notify_id);
    void serialqueue_pull(struct serialqueue *sq
        , struct pull_queue_message *pqm);
-    void serialqueue_set_baud_adjust(struct serialqueue *sq
-        , double baud_adjust);
+    void serialqueue_set_wire_frequency(struct serialqueue *sq
+        , double frequency);
    void serialqueue_set_receive_window(struct serialqueue *sq
        , int receive_window);
    void serialqueue_set_clock_est(struct serialqueue *sq, double est_freq
--- a/klippy/chelper/serialqueue.c
+++ b/klippy/chelper/serialqueue.c
@ -49,7 +49,7 @@ struct serialqueue {
    int receive_waiting;
    // Baud / clock tracking
    int receive_window;
-    double baud_adjust, idle_time;
+    double bittime_adjust, idle_time;
    struct clock_estimate ce;
    double last_receive_sent_time;
    // Retransmit support
@ -136,6 +136,23 @@ kick_bg_thread(struct serialqueue *sq)
        report_errno("pipe write", ret);
 }

+// Minimum number of bits in a canbus message
+#define CANBUS_PACKET_BITS ((1 + 11 + 3 + 4) + (16 + 2 + 7 + 3))
+#define CANBUS_IFS_BITS 4
+
+// Determine minimum time needed to transmit a given number of bytes
+static double
+calculate_bittime(struct serialqueue *sq, uint32_t bytes)
+{
+    if (sq->serial_fd_type == SQT_CAN) {
+        uint32_t pkts = DIV_ROUND_UP(bytes, 8);
+        uint32_t bits = bytes * 8 + pkts * CANBUS_PACKET_BITS - CANBUS_IFS_BITS;
+        return sq->bittime_adjust * bits;
+    } else {
+        return sq->bittime_adjust * bytes;
+    }
+}
+
 // Update internal state when the receive sequence increases
 static void
 update_receive_seq(struct serialqueue *sq, double eventtime, uint64_t rseq)
@ -192,7 +209,7 @@ update_receive_seq(struct serialqueue *sq, double eventtime, uint64_t rseq)
    } else {
        struct queue_message *sent = list_first_entry(
            &sq->sent_queue, struct queue_message, node);
-        double nr = eventtime + sq->rto + sent->len * sq->baud_adjust;
+        double nr = eventtime + sq->rto + calculate_bittime(sq, sent->len);
        pollreactor_update_timer(sq->pr, SQPT_RETRANSMIT, nr);
    }
 }
@ -251,7 +268,7 @@ handle_message(struct serialqueue *sq, double eventtime, int len)
        qm->sent_time = (rseq > sq->retransmit_seq
                         ? sq->last_receive_sent_time : 0.);
        qm->receive_time = get_monotonic(); // must be time post read()
-        qm->receive_time -= sq->baud_adjust * len;
+        qm->receive_time -= calculate_bittime(sq, len);
        list_add_tail(&qm->node, &sq->receive_queue);
        must_wake = 1;
    }
@ -407,8 +424,8 @@ retransmit_event(struct serialqueue *sq, double eventtime)
    }
    sq->retransmit_seq = sq->send_seq;
    sq->rtt_sample_seq = 0;
-    sq->idle_time = eventtime + buflen * sq->baud_adjust;
-    double waketime = eventtime + first_buflen * sq->baud_adjust + sq->rto;
+    sq->idle_time = eventtime + calculate_bittime(sq, buflen);
+    double waketime = eventtime + sq->rto + calculate_bittime(sq, first_buflen);

    pthread_mutex_unlock(&sq->lock);
    return waketime;
@ -416,7 +433,8 @@ retransmit_event(struct serialqueue *sq, double eventtime)

 // Construct a block of data to be sent to the serial port
 static int
-build_and_send_command(struct serialqueue *sq, uint8_t *buf, double eventtime)
+build_and_send_command(struct serialqueue *sq, uint8_t *buf, int pending
+                       , double eventtime)
 {
    int len = MESSAGE_HEADER_SIZE;
    while (sq->ready_bytes) {
@ -463,17 +481,15 @@ build_and_send_command(struct serialqueue *sq, uint8_t *buf, double eventtime)
    buf[len - MESSAGE_TRAILER_SYNC] = MESSAGE_SYNC;

    // Store message block
-    if (eventtime > sq->idle_time)
-        sq->idle_time = eventtime;
-    sq->idle_time += len * sq->baud_adjust;
+    double idletime = eventtime > sq->idle_time ? eventtime : sq->idle_time;
+    idletime += calculate_bittime(sq, pending + len);
    struct queue_message *out = message_alloc();
    memcpy(out->msg, buf, len);
    out->len = len;
    out->sent_time = eventtime;
-    out->receive_time = sq->idle_time;
+    out->receive_time = idletime;
    if (list_empty(&sq->sent_queue))
-        pollreactor_update_timer(sq->pr, SQPT_RETRANSMIT
-                                 , sq->idle_time + sq->rto);
+        pollreactor_update_timer(sq->pr, SQPT_RETRANSMIT, idletime + sq->rto);
    if (!sq->rtt_sample_seq)
        sq->rtt_sample_seq = sq->send_seq;
    sq->send_seq++;
@ -484,7 +500,7 @@ build_and_send_command(struct serialqueue *sq, uint8_t *buf, double eventtime)

 // Determine the time the next serial data should be sent
 static double
-check_send_command(struct serialqueue *sq, double eventtime)
+check_send_command(struct serialqueue *sq, int pending, double eventtime)
 {
    if (sq->send_seq - sq->receive_seq >= MAX_PENDING_BLOCKS
        && sq->receive_seq != (uint64_t)-1)
@ -501,7 +517,7 @@ check_send_command(struct serialqueue *sq, double eventtime)

    // Check for stalled messages now ready
    double idletime = eventtime > sq->idle_time ? eventtime : sq->idle_time;
-    idletime += MESSAGE_MIN * sq->baud_adjust;
+    idletime += calculate_bittime(sq, pending + MESSAGE_MIN);
    uint64_t ack_clock = clock_from_time(&sq->ce, idletime);
    uint64_t min_stalled_clock = MAX_CLOCK, min_ready_clock = MAX_CLOCK;
    struct command_queue *cq;
@ -525,9 +541,10 @@ check_send_command(struct serialqueue *sq, double eventtime)
            struct queue_message *qm = list_first_entry(
                &cq->ready_queue, struct queue_message, node);
            uint64_t req_clock = qm->req_clock;
+            double bgtime = pending ? idletime : sq->idle_time;
            double bgoffset = MIN_REQTIME_DELTA + MIN_BACKGROUND_DELTA;
            if (req_clock == BACKGROUND_PRIORITY_CLOCK)
-                req_clock = clock_from_time(&sq->ce, sq->idle_time + bgoffset);
+                req_clock = clock_from_time(&sq->ce, bgtime + bgoffset);
            if (req_clock < min_ready_clock)
                min_ready_clock = req_clock;
        }
@ -561,18 +578,21 @@ command_event(struct serialqueue *sq, double eventtime)
    int buflen = 0;
    double waketime;
    for (;;) {
-        waketime = check_send_command(sq, eventtime);
+        waketime = check_send_command(sq, buflen, eventtime);
        if (waketime != PR_NOW || buflen + MESSAGE_MAX > sizeof(buf)) {
            if (buflen) {
                // Write message blocks
                do_write(sq, buf, buflen);
                sq->bytes_write += buflen;
+                double idletime = (eventtime > sq->idle_time
+                                   ? eventtime : sq->idle_time);
+                sq->idle_time = idletime + calculate_bittime(sq, buflen);
                buflen = 0;
            }
            if (waketime != PR_NOW)
                break;
        }
-        buflen += build_and_send_command(sq, &buf[buflen], eventtime);
+        buflen += build_and_send_command(sq, &buf[buflen], buflen, eventtime);
    }
    pthread_mutex_unlock(&sq->lock);
    return waketime;
@ -847,10 +867,15 @@ exit:
 }

 void __visible
-serialqueue_set_baud_adjust(struct serialqueue *sq, double baud_adjust)
+serialqueue_set_wire_frequency(struct serialqueue *sq, double frequency)
 {
    pthread_mutex_lock(&sq->lock);
-    sq->baud_adjust = baud_adjust;
+    if (sq->serial_fd_type == SQT_CAN) {
+        sq->bittime_adjust = 1. / frequency;
+    } else {
+        // An 8N1 serial line is 10 bits per byte (1 start, 8 data, 1 stop)
+        sq->bittime_adjust = 10. / frequency;
+    }
    pthread_mutex_unlock(&sq->lock);
 }

--- a/klippy/chelper/serialqueue.h
+++ b/klippy/chelper/serialqueue.h
@ -42,7 +42,7 @@ void serialqueue_send(struct serialqueue *sq, struct command_queue *cq
                      , uint8_t *msg, int len, uint64_t min_clock
                      , uint64_t req_clock, uint64_t notify_id);
 void serialqueue_pull(struct serialqueue *sq, struct pull_queue_message *pqm);
-void serialqueue_set_baud_adjust(struct serialqueue *sq, double baud_adjust);
+void serialqueue_set_wire_frequency(struct serialqueue *sq, double frequency);
 void serialqueue_set_receive_window(struct serialqueue *sq, int receive_window);
 void serialqueue_set_clock_est(struct serialqueue *sq, double est_freq
                               , double conv_time, uint64_t conv_clock
--- a/klippy/configfile.py
+++ b/klippy/configfile.py
@ -140,6 +140,7 @@ class PrinterConfig:
        self.autosave = None
        self.deprecated = {}
        self.status_raw_config = {}
+        self.status_save_pending = {}
        self.status_settings = {}
        self.status_warnings = []
        self.save_config_pending = False
@ -331,18 +332,36 @@ class PrinterConfig:
        return {'config': self.status_raw_config,
                'settings': self.status_settings,
                'warnings': self.status_warnings,
-                'save_config_pending': self.save_config_pending}
+                'save_config_pending': self.save_config_pending,
+                'save_config_pending_items': self.status_save_pending}
    # Autosave functions
    def set(self, section, option, value):
        if not self.autosave.fileconfig.has_section(section):
            self.autosave.fileconfig.add_section(section)
        svalue = str(value)
        self.autosave.fileconfig.set(section, option, svalue)
+        pending = dict(self.status_save_pending)
+        if not section in pending or pending[section] is None:
+            pending[section] = {}
+        else:
+            pending[section] = dict(pending[section])
+        pending[section][option] = svalue
+        self.status_save_pending = pending
        self.save_config_pending = True
        logging.info("save_config: set [%s] %s = %s", section, option, svalue)
    def remove_section(self, section):
-        self.autosave.fileconfig.remove_section(section)
-        self.save_config_pending = True
+        if self.autosave.fileconfig.has_section(section):
+            self.autosave.fileconfig.remove_section(section)
+            pending = dict(self.status_save_pending)
+            pending[section] = None
+            self.status_save_pending = pending
+            self.save_config_pending = True
+        elif (section in self.status_save_pending and
+              self.status_save_pending[section] is not None):
+            pending = dict(self.status_save_pending)
+            del pending[section]
+            self.status_save_pending = pending
+            self.save_config_pending = True
    def _disallow_include_conflicts(self, regular_data, cfgname, gcode):
        config = self._build_config_wrapper(regular_data, cfgname)
        for section in self.autosave.fileconfig.sections():
--- a/klippy/console.py
+++ b/klippy/console.py
@ -11,11 +11,12 @@ help_txt = """
  This is a debugging console for the Klipper micro-controller.
  In addition to mcu commands, the following artificial commands are
  available:
-    PINS  : Load pin name aliases (eg, "PINS arduino")
    DELAY : Send a command at a clock time (eg, "DELAY 9999 get_uptime")
    FLOOD : Send a command many times (eg, "FLOOD 22 .01 get_uptime")
    SUPPRESS : Suppress a response message (eg, "SUPPRESS analog_in_state 4")
    SET   : Create a local variable (eg, "SET myvar 123.4")
+    DUMP  : Dump memory (eg, "DUMP 0x12345678 100 32")
+    FILEDUMP : Dump to file (eg, "FILEDUMP data.bin 0x12345678 100 32")
    STATS : Report serial statistics
    LIST  : List available mcu commands, local commands, and local variables
    HELP  : Show this text
@ -48,6 +49,7 @@ class KeyboardReader:
        reactor.register_callback(self.connect)
        self.local_commands = {
            "SET": self.command_SET,
+            "DUMP": self.command_DUMP, "FILEDUMP": self.command_FILEDUMP,
            "DELAY": self.command_DELAY, "FLOOD": self.command_FLOOD,
            "SUPPRESS": self.command_SUPPRESS, "STATS": self.command_STATS,
            "LIST": self.command_LIST, "HELP": self.command_HELP,
@ -98,6 +100,55 @@ class KeyboardReader:
        except ValueError:
            pass
        self.eval_globals[parts[1]] = val
+    def command_DUMP(self, parts, filename=None):
+        # Extract command args
+        try:
+            addr = int(parts[1], 0)
+            count = int(parts[2], 0)
+            order = [2, 0, 1, 0][(addr | count) & 3]
+            if len(parts) > 3:
+                order = {'32': 2, '16': 1, '8': 0}[parts[3]]
+        except ValueError as e:
+            self.output("Error: %s" % (str(e),))
+            return
+        bsize = 1 << order
+        # Query data from mcu
+        vals = []
+        for i in range((count + bsize - 1) >> order):
+            caddr = addr + (i << order)
+            cmd = "debug_read order=%d addr=%d" % (order, caddr)
+            params = self.ser.send_with_response(cmd, "debug_result")
+            vals.append(params['val'])
+        # Report data
+        if filename is None and order == 2:
+            # Common 32bit hex dump
+            for i in range((len(vals) + 3) // 4):
+                p = i * 4
+                hexvals = " ".join(["%08x" % (v,) for v in vals[p:p+4]])
+                self.output("%08x  %s" % (addr + p * 4, hexvals))
+            return
+        # Convert to byte format
+        data = bytearray()
+        for val in vals:
+            for b in range(bsize):
+                data.append((val >> (8 * b)) & 0xff)
+        data = data[:count]
+        if filename is not None:
+            f = open(filename, 'wb')
+            f.write(data)
+            f.close()
+            self.output("Wrote %d bytes to '%s'" % (len(data), filename))
+            return
+        for i in range((count + 15) // 16):
+            p = i * 16
+            paddr = addr + p
+            d = data[p:p+16]
+            hexbytes = " ".join(["%02x" % (v,) for v in d])
+            pb = "".join([chr(v) if v >= 0x20 and v < 0x7f else '.' for v in d])
+            o = "%08x  %-47s  |%s|" % (paddr, hexbytes, pb)
+            self.output("%s %s" % (o[:34], o[34:]))
+    def command_FILEDUMP(self, parts):
+        self.command_DUMP(parts[1:], filename=parts[1])
    def command_DELAY(self, parts):
        try:
            val = int(parts[1])
--- a/klippy/extras/adxl345.py
+++ b/klippy/extras/adxl345.py
@ -30,7 +30,7 @@ Accel_Measurement = collections.namedtuple(
    'Accel_Measurement', ('time', 'accel_x', 'accel_y', 'accel_z'))

 # Helper class to obtain measurements
-class ADXL345QueryHelper:
+class AccelQueryHelper:
    def __init__(self, printer, cconn):
        self.printer = printer
        self.cconn = cconn
@ -101,15 +101,18 @@ class ADXL345QueryHelper:
        write_proc.start()

 # Helper class for G-Code commands
-class ADXLCommandHelper:
+class AccelCommandHelper:
    def __init__(self, config, chip):
        self.printer = config.get_printer()
        self.chip = chip
        self.bg_client = None
-        self.name = config.get_name().split()[-1]
+        name_parts = config.get_name().split()
+        self.base_name = name_parts[0]
+        self.name = name_parts[-1]
        self.register_commands(self.name)
-        if self.name == "adxl345":
-            self.register_commands(None)
+        if len(name_parts) == 1:
+            if self.name == "adxl345" or not config.has_section("adxl345"):
+                self.register_commands(None)
    def register_commands(self, name):
        # Register commands
        gcode = self.printer.lookup_object('gcode')
@ -130,20 +133,20 @@ class ADXLCommandHelper:
        if self.bg_client is None:
            # Start measurements
            self.bg_client = self.chip.start_internal_client()
-            gcmd.respond_info("adxl345 measurements started")
+            gcmd.respond_info("accelerometer measurements started")
            return
        # End measurements
        name = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
        if not name.replace('-', '').replace('_', '').isalnum():
-            raise gcmd.error("Invalid adxl345 NAME parameter")
+            raise gcmd.error("Invalid NAME parameter")
        bg_client = self.bg_client
        self.bg_client = None
        bg_client.finish_measurements()
        # Write data to file
-        if self.name == "adxl345":
-            filename = "/tmp/adxl345-%s.csv" % (name,)
+        if self.base_name == self.name:
+            filename = "/tmp/%s-%s.csv" % (self.base_name, name)
        else:
-            filename = "/tmp/adxl345-%s-%s.csv" % (self.name, name,)
+            filename = "/tmp/%s-%s-%s.csv" % (self.base_name, self.name, name)
        bg_client.write_to_file(filename)
        gcmd.respond_info("Writing raw accelerometer data to %s file"
                          % (filename,))
@ -154,18 +157,18 @@ class ADXLCommandHelper:
        aclient.finish_measurements()
        values = aclient.get_samples()
        if not values:
-            raise gcmd.error("No adxl345 measurements found")
+            raise gcmd.error("No accelerometer measurements found")
        _, accel_x, accel_y, accel_z = values[-1]
-        gcmd.respond_info("adxl345 values (x, y, z): %.6f, %.6f, %.6f"
+        gcmd.respond_info("accelerometer values (x, y, z): %.6f, %.6f, %.6f"
                          % (accel_x, accel_y, accel_z))
-    cmd_ACCELEROMETER_DEBUG_READ_help = "Query adxl345 register (for debugging)"
+    cmd_ACCELEROMETER_DEBUG_READ_help = "Query register (for debugging)"
    def cmd_ACCELEROMETER_DEBUG_READ(self, gcmd):
-        reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
+        reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
        val = self.chip.read_reg(reg)
-        gcmd.respond_info("ADXL345 REG[0x%x] = 0x%x" % (reg, val))
-    cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set adxl345 register (for debugging)"
+        gcmd.respond_info("Accelerometer REG[0x%x] = 0x%x" % (reg, val))
+    cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set register (for debugging)"
    def cmd_ACCELEROMETER_DEBUG_WRITE(self, gcmd):
-        reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
+        reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
        val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
        self.chip.set_reg(reg, val)

@ -226,7 +229,7 @@ SAMPLES_PER_BLOCK = 10
 class ADXL345:
    def __init__(self, config):
        self.printer = config.get_printer()
-        ADXLCommandHelper(config, self)
+        AccelCommandHelper(config, self)
        self.query_rate = 0
        am = {'x': (0, SCALE), 'y': (1, SCALE), 'z': (2, SCALE),
              '-x': (0, -SCALE), '-y': (1, -SCALE), '-z': (2, -SCALE)}
@ -432,7 +435,7 @@ class ADXL345:
        web_request.send({'header': hdr})
    def start_internal_client(self):
        cconn = self.api_dump.add_internal_client()
-        return ADXL345QueryHelper(self.printer, cconn)
+        return AccelQueryHelper(self.printer, cconn)

 def load_config(config):
    return ADXL345(config)
--- a/klippy/extras/bed_mesh.py
+++ b/klippy/extras/bed_mesh.py
@ -124,6 +124,8 @@ class BedMesh:
        # Register transform
        gcode_move = self.printer.load_object(config, 'gcode_move')
        gcode_move.set_move_transform(self)
+        # initialize status dict
+        self.update_status()
    def handle_connect(self):
        self.toolhead = self.printer.lookup_object('toolhead')
        self.bmc.print_generated_points(logging.info)
@ -162,6 +164,7 @@ class BedMesh:
        # cache the current position before a transform takes place
        gcode_move = self.printer.lookup_object('gcode_move')
        gcode_move.reset_last_position()
+        self.update_status()
    def get_z_factor(self, z_pos):
        if z_pos >= self.fade_end:
            return 0.
@ -216,7 +219,9 @@ class BedMesh:
                        "Mesh Leveling: Error splitting move ")
        self.last_position[:] = newpos
    def get_status(self, eventtime=None):
-        status = {
+        return self.status
+    def update_status(self):
+        self.status = {
            "profile_name": "",
            "mesh_min": (0., 0.),
            "mesh_max": (0., 0.),
@ -230,12 +235,11 @@ class BedMesh:
            mesh_max = (params['max_x'], params['max_y'])
            probed_matrix = self.z_mesh.get_probed_matrix()
            mesh_matrix = self.z_mesh.get_mesh_matrix()
-            status['profile_name'] = self.pmgr.get_current_profile()
-            status['mesh_min'] = mesh_min
-            status['mesh_max'] = mesh_max
-            status['probed_matrix'] = probed_matrix
-            status['mesh_matrix'] = mesh_matrix
-        return status
+            self.status['profile_name'] = self.pmgr.get_current_profile()
+            self.status['mesh_min'] = mesh_min
+            self.status['mesh_max'] = mesh_max
+            self.status['probed_matrix'] = probed_matrix
+            self.status['mesh_matrix'] = mesh_matrix
    def get_mesh(self):
        return self.z_mesh
    cmd_BED_MESH_OUTPUT_help = "Retrieve interpolated grid of probed z-points"
@ -1180,6 +1184,7 @@ class ProfileManager:
        profile['mesh_params'] = collections.OrderedDict(mesh_params)
        self.profiles = profiles
        self.current_profile = prof_name
+        self.bedmesh.update_status()
        self.gcode.respond_info(
            "Bed Mesh state has been saved to profile [%s]\n"
            "for the current session.  The SAVE_CONFIG command will\n"
@ -1206,6 +1211,7 @@ class ProfileManager:
            profiles = dict(self.profiles)
            del profiles[prof_name]
            self.profiles = profiles
+            self.bedmesh.update_status()
            self.gcode.respond_info(
                "Profile [%s] removed from storage for this session.\n"
                "The SAVE_CONFIG command will update the printer\n"
--- a/klippy/extras/bed_screws.py
+++ b/klippy/extras/bed_screws.py
@ -7,9 +7,7 @@
 class BedScrews:
    def __init__(self, config):
        self.printer = config.get_printer()
-        self.state = None
-        self.current_screw = 0
-        self.accepted_screws = 0
+        self.reset()
        self.number_of_screws = 0
        # Read config
        screws = []
@ -39,6 +37,10 @@ class BedScrews:
        self.gcode.register_command("BED_SCREWS_ADJUST",
                                    self.cmd_BED_SCREWS_ADJUST,
                                    desc=self.cmd_BED_SCREWS_ADJUST_help)
+    def reset(self):
+        self.state = None
+        self.current_screw = 0
+        self.accepted_screws = 0
    def move(self, coord, speed):
        self.printer.lookup_object('toolhead').manual_move(coord, speed)
    def move_to_screw(self, state, screw):
@ -64,6 +66,13 @@ class BedScrews:
        self.gcode.register_command('ACCEPT', None)
        self.gcode.register_command('ADJUSTED', None)
        self.gcode.register_command('ABORT', None)
+    def get_status(self, eventtime):
+        return {
+            'is_active': self.state is not None,
+            'state': self.state,
+            'current_screw': self.current_screw,
+            'accepted_screws': self.accepted_screws
+        }
    cmd_BED_SCREWS_ADJUST_help = "Tool to help adjust bed leveling screws"
    def cmd_BED_SCREWS_ADJUST(self, gcmd):
        if self.state is not None:
@ -92,7 +101,7 @@ class BedScrews:
            self.move_to_screw('fine', 0)
            return
        # Done
-        self.state = None
+        self.reset()
        self.move((None, None, self.horizontal_move_z), self.lift_speed)
        gcmd.respond_info("Bed screws tool completed successfully")
    cmd_ADJUSTED_help = "Accept bed screw position after notable adjustment"
@ -103,7 +112,7 @@ class BedScrews:
    cmd_ABORT_help = "Abort bed screws tool"
    def cmd_ABORT(self, gcmd):
        self.unregister_commands()
-        self.state = None
+        self.reset()

 def load_config(config):
    return BedScrews(config)
--- a/klippy/extras/canbus_ids.py
+++ b/klippy/extras/canbus_ids.py
@ -4,6 +4,8 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.

+NODEID_FIRST = 4
+
 class PrinterCANBus:
    def __init__(self, config):
        self.printer = config.get_printer()
@ -11,7 +13,7 @@ class PrinterCANBus:
    def add_uuid(self, config, canbus_uuid, canbus_iface):
        if canbus_uuid in self.ids:
            raise config.error("Duplicate canbus_uuid")
-        new_id = len(self.ids)
+        new_id = len(self.ids) + NODEID_FIRST
        self.ids[canbus_uuid] = new_id
        return new_id
    def get_nodeid(self, canbus_uuid):
--- a/klippy/extras/delta_calibrate.py
+++ b/klippy/extras/delta_calibrate.py
@ -45,7 +45,7 @@ def measurements_to_distances(measured_params, delta_params):
        od - opw
        for od, opw in zip(mp['OUTER_DISTS'], mp['OUTER_PILLAR_WIDTHS']) ]
    # Convert angles in degrees to an XY multiplier
-    obj_angles = map(math.radians, MeasureAngles)
+    obj_angles = list(map(math.radians, MeasureAngles))
    xy_angles = list(zip(map(math.cos, obj_angles), map(math.sin, obj_angles)))
    # Calculate stable positions for center measurements
    inner_ridge = MeasureRidgeRadius * scale
--- a/klippy/extras/display_status.py
+++ b/klippy/extras/display_status.py
@ -16,6 +16,9 @@ class DisplayStatus:
        gcode = self.printer.lookup_object('gcode')
        gcode.register_command('M73', self.cmd_M73)
        gcode.register_command('M117', self.cmd_M117)
+        gcode.register_command(
+            'SET_DISPLAY_TEXT', self.cmd_SET_DISPLAY_TEXT,
+            desc=self.cmd_SET_DISPLAY_TEXT_help)
    def get_status(self, eventtime):
        progress = self.progress
        if progress is not None and eventtime > self.expire_progress:
@ -39,6 +42,9 @@ class DisplayStatus:
    def cmd_M117(self, gcmd):
        msg = gcmd.get_raw_command_parameters() or None
        self.message = msg
+    cmd_SET_DISPLAY_TEXT_help = "Set or clear the display message"
+    def cmd_SET_DISPLAY_TEXT(self, gcmd):
+        self.message = gcmd.get("MSG", None)

 def load_config(config):
    return DisplayStatus(config)
--- a/klippy/extras/ds18b20.py
+++ b/klippy/extras/ds18b20.py
@ -10,6 +10,7 @@ DS18_REPORT_TIME = 3.0
 # Temperature can be sampled at any time but conversion time is ~750ms, so
 # setting the time too low will not make the reports come faster.
 DS18_MIN_REPORT_TIME = 1.0
+DS18_MAX_CONSECUTIVE_ERRORS = 4

 class DS18B20:
    def __init__(self, config):
@ -31,8 +32,9 @@ class DS18B20:

    def _build_config(self):
        sid = "".join(["%02x" % (x,) for x in self.sensor_id])
-        self._mcu.add_config_cmd("config_ds18b20 oid=%d serial=%s"
-                                 % (self.oid, sid))
+        self._mcu.add_config_cmd(
+            "config_ds18b20 oid=%d serial=%s max_error_count=%d"
+            % (self.oid, sid, DS18_MAX_CONSECUTIVE_ERRORS))

        clock = self._mcu.get_query_slot(self.oid)
        self._report_clock = self._mcu.seconds_to_clock(self.report_time)
@ -44,10 +46,10 @@ class DS18B20:
    def _handle_ds18b20_response(self, params):
        temp = params['value'] / 1000.0

-        if temp < self.min_temp or temp > self.max_temp:
-            self.printer.invoke_shutdown(
-                "DS18B20 temperature %0.1f outside range of %0.1f:%.01f"
-                % (temp, self.min_temp, self.max_temp))
+        if params["fault"]:
+            logging.info("ds18b20 reports fault %d (temp=%0.1f)",
+                         params["fault"], temp)
+            return

        next_clock      = self._mcu.clock32_to_clock64(params['next_clock'])
        last_read_clock = next_clock - self._report_clock
--- a/klippy/extras/exclude_object.py
+++ b/klippy/extras/exclude_object.py
@ -0,0 +1,302 @@
+# Exclude moves toward and inside objects
+#
+# Copyright (C) 2019  Eric Callahan <arksine.code@gmail.com>
+# Copyright (C) 2021  Troy Jacobson <troy.d.jacobson@gmail.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+
+import logging
+import json
+
+class ExcludeObject:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode_move = self.printer.load_object(config, 'gcode_move')
+        self.printer.register_event_handler('klippy:connect',
+                                        self._handle_connect)
+        self.printer.register_event_handler("virtual_sdcard:reset_file",
+                                            self._reset_file)
+        self.next_transform = None
+        self.last_position_extruded = [0., 0., 0., 0.]
+        self.last_position_excluded = [0., 0., 0., 0.]
+
+        self._reset_state()
+        self.gcode.register_command(
+            'EXCLUDE_OBJECT_START', self.cmd_EXCLUDE_OBJECT_START,
+            desc=self.cmd_EXCLUDE_OBJECT_START_help)
+        self.gcode.register_command(
+            'EXCLUDE_OBJECT_END', self.cmd_EXCLUDE_OBJECT_END,
+            desc=self.cmd_EXCLUDE_OBJECT_END_help)
+        self.gcode.register_command(
+            'EXCLUDE_OBJECT', self.cmd_EXCLUDE_OBJECT,
+            desc=self.cmd_EXCLUDE_OBJECT_help)
+        self.gcode.register_command(
+            'EXCLUDE_OBJECT_DEFINE', self.cmd_EXCLUDE_OBJECT_DEFINE,
+            desc=self.cmd_EXCLUDE_OBJECT_DEFINE_help)
+
+    def _register_transform(self):
+        if self.next_transform is None:
+            tuning_tower = self.printer.lookup_object('tuning_tower')
+            if tuning_tower.is_active():
+                logging.info('The ExcludeObject move transform is not being '
+                    'loaded due to Tuning tower being Active')
+                return
+
+            self.next_transform = self.gcode_move.set_move_transform(self,
+                                                                     force=True)
+            self.extrusion_offsets = {}
+            self.max_position_extruded = 0
+            self.max_position_excluded = 0
+            self.extruder_adj = 0
+            self.initial_extrusion_moves = 5
+            self.last_position = [0., 0., 0., 0.]
+
+            self.get_position()
+            self.last_position_extruded[:] = self.last_position
+            self.last_position_excluded[:] = self.last_position
+
+    def _handle_connect(self):
+        self.toolhead = self.printer.lookup_object('toolhead')
+
+    def _unregister_transform(self):
+        if self.next_transform:
+            tuning_tower = self.printer.lookup_object('tuning_tower')
+            if tuning_tower.is_active():
+                logging.error('The Exclude Object move transform was not '
+                    'unregistered because it is not at the head of the '
+                    'transform chain.')
+                return
+
+            self.gcode_move.set_move_transform(self.next_transform, force=True)
+            self.next_transform = None
+            self.gcode_move.reset_last_position()
+
+    def _reset_state(self):
+        self.objects = []
+        self.excluded_objects = []
+        self.current_object = None
+        self.in_excluded_region = False
+
+    def _reset_file(self):
+        self._reset_state()
+        self._unregister_transform()
+
+    def _get_extrusion_offsets(self):
+        offset = self.extrusion_offsets.get(
+            self.toolhead.get_extruder().get_name())
+        if offset is None:
+            offset = [0., 0., 0., 0.]
+            self.extrusion_offsets[self.toolhead.get_extruder().get_name()] = \
+                offset
+        return offset
+
+    def get_position(self):
+        offset = self._get_extrusion_offsets()
+        pos = self.next_transform.get_position()
+        for i in range(4):
+            self.last_position[i] = pos[i] + offset[i]
+        return list(self.last_position)
+
+    def _normal_move(self, newpos, speed):
+        offset = self._get_extrusion_offsets()
+
+        if self.initial_extrusion_moves > 0 and \
+            self.last_position[3] != newpos[3]:
+            # Since the transform is not loaded until there is a request to
+            # exclude an object, the transform needs to track a few extrusions
+            # to get the state of the extruder
+            self.initial_extrusion_moves -= 1
+
+        self.last_position[:] = newpos
+        self.last_position_extruded[:] = self.last_position
+        self.max_position_extruded = max(self.max_position_extruded, newpos[3])
+
+        # These next few conditionals handle the moves immediately after leaving
+        # and excluded object.  The toolhead is at the end of the last printed
+        # object and the gcode is at the end of the last excluded object.
+        #
+        # Ideally, there will be Z and E moves right away to adjust any offsets
+        # before moving away from the last position.  Any remaining corrections
+        # will be made on the firs XY move.
+        if (offset[0] != 0 or offset[1] != 0) and \
+            (newpos[0] != self.last_position_excluded[0] or \
+            newpos[1] != self.last_position_excluded[1]):
+            offset[0] = 0
+            offset[1] = 0
+            offset[2] = 0
+            offset[3] += self.extruder_adj
+            self.extruder_adj = 0
+
+        if offset[2] != 0 and newpos[2] != self.last_position_excluded[2]:
+            offset[2] = 0
+
+        if self.extruder_adj != 0 and \
+            newpos[3] != self.last_position_excluded[3]:
+            offset[3] += self.extruder_adj
+            self.extruder_adj = 0
+
+        tx_pos = newpos[:]
+        for i in range(4):
+            tx_pos[i] = newpos[i] - offset[i]
+        self.next_transform.move(tx_pos, speed)
+
+    def _ignore_move(self, newpos, speed):
+        offset = self._get_extrusion_offsets()
+        for i in range(3):
+            offset[i] = newpos[i] - self.last_position_extruded[i]
+        offset[3] = offset[3] + newpos[3] - self.last_position[3]
+        self.last_position[:] = newpos
+        self.last_position_excluded[:] =self.last_position
+        self.max_position_excluded = max(self.max_position_excluded, newpos[3])
+
+    def _move_into_excluded_region(self, newpos, speed):
+        self.in_excluded_region = True
+        self._ignore_move(newpos, speed)
+
+    def _move_from_excluded_region(self, newpos, speed):
+        self.in_excluded_region = False
+
+        # This adjustment value is used to compensate for any retraction
+        # differences between the last object printed and excluded one.
+        self.extruder_adj = self.max_position_excluded \
+            - self.last_position_excluded[3] \
+            - (self.max_position_extruded - self.last_position_extruded[3])
+        self._normal_move(newpos, speed)
+
+    def _test_in_excluded_region(self):
+        # Inside cancelled object
+        return self.current_object in self.excluded_objects \
+            and self.initial_extrusion_moves == 0
+
+    def get_status(self, eventtime=None):
+        status = {
+            "objects": self.objects,
+            "excluded_objects": self.excluded_objects,
+            "current_object": self.current_object
+        }
+        return status
+
+    def move(self, newpos, speed):
+        move_in_excluded_region = self._test_in_excluded_region()
+        self.last_speed = speed
+
+        if move_in_excluded_region:
+            if self.in_excluded_region:
+                self._ignore_move(newpos, speed)
+            else:
+                self._move_into_excluded_region(newpos, speed)
+        else:
+            if self.in_excluded_region:
+                self._move_from_excluded_region(newpos, speed)
+            else:
+                self._normal_move(newpos, speed)
+
+    cmd_EXCLUDE_OBJECT_START_help = "Marks the beginning the current object" \
+                                    " as labeled"
+    def cmd_EXCLUDE_OBJECT_START(self, gcmd):
+        name = gcmd.get('NAME').upper()
+        if not any(obj["name"] == name for obj in self.objects):
+            self._add_object_definition({"name": name})
+        self.current_object = name
+        self.was_excluded_at_start = self._test_in_excluded_region()
+
+    cmd_EXCLUDE_OBJECT_END_help = "Marks the end the current object"
+    def cmd_EXCLUDE_OBJECT_END(self, gcmd):
+        if self.current_object == None and self.next_transform:
+            gcmd.respond_info("EXCLUDE_OBJECT_END called, but no object is"
+                              " currently active")
+            return
+        name = gcmd.get('NAME', default=None)
+        if name != None and name.upper() != self.current_object:
+            gcmd.respond_info("EXCLUDE_OBJECT_END NAME=%s does not match the"
+                              " current object NAME=%s" %
+                              (name.upper(), self.current_object))
+
+        self.current_object = None
+
+    cmd_EXCLUDE_OBJECT_help = "Cancel moves inside a specified objects"
+    def cmd_EXCLUDE_OBJECT(self, gcmd):
+        reset = gcmd.get('RESET', None)
+        current = gcmd.get('CURRENT', None)
+        name = gcmd.get('NAME', '').upper()
+
+        if reset:
+            if name:
+                self._unexclude_object(name)
+
+            else:
+                self.excluded_objects = []
+
+        elif name:
+            if name.upper() not in self.excluded_objects:
+                self._exclude_object(name.upper())
+
+        elif current:
+            if not self.current_object:
+                gcmd.respond_error('There is no current object to cancel')
+
+            else:
+                self._exclude_object(self.current_object)
+
+        else:
+            self._list_excluded_objects(gcmd)
+
+    cmd_EXCLUDE_OBJECT_DEFINE_help = "Provides a summary of an object"
+    def cmd_EXCLUDE_OBJECT_DEFINE(self, gcmd):
+        reset = gcmd.get('RESET', None)
+        name = gcmd.get('NAME', '').upper()
+
+        if reset:
+            self._reset_file()
+
+        elif name:
+            parameters = gcmd.get_command_parameters().copy()
+            parameters.pop('NAME')
+            center = parameters.pop('CENTER', None)
+            polygon = parameters.pop('POLYGON', None)
+
+            obj = {"name": name.upper()}
+            obj.update(parameters)
+
+            if center != None:
+                obj['center'] = json.loads('[%s]' % center)
+
+            if polygon != None:
+                obj['polygon'] = json.loads(polygon)
+
+            self._add_object_definition(obj)
+
+        else:
+            self._list_objects(gcmd)
+
+    def _add_object_definition(self, definition):
+        self.objects = sorted(self.objects + [definition],
+                              key=lambda o: o["name"])
+
+    def _exclude_object(self, name):
+        self._register_transform()
+        self.gcode.respond_info('Excluding object {}'.format(name.upper()))
+        if name not in self.excluded_objects:
+            self.excluded_objects = sorted(self.excluded_objects + [name])
+
+    def _unexclude_object(self, name):
+        self.gcode.respond_info('Unexcluding object {}'.format(name.upper()))
+        if name in self.excluded_objects:
+            excluded_objects = list(self.excluded_objects)
+            excluded_objects.remove(name)
+            self.excluded_objects = sorted(excluded_objects)
+
+    def _list_objects(self, gcmd):
+        if gcmd.get('JSON', None) is not None:
+            object_list = json.dumps(self.objects)
+        else:
+            object_list = " ".join(obj['name'] for obj in self.objects)
+        gcmd.respond_info('Known objects: {}'.format(object_list))
+
+    def _list_excluded_objects(self, gcmd):
+        object_list = " ".join(self.excluded_objects)
+        gcmd.respond_info('Excluded objects: {}'.format(object_list))
+
+def load_config(config):
+    return ExcludeObject(config)
--- a/klippy/extras/manual_probe.py
+++ b/klippy/extras/manual_probe.py
@ -24,9 +24,19 @@ class ManualProbe:
                'Z_OFFSET_APPLY_ENDSTOP',
                self.cmd_Z_OFFSET_APPLY_ENDSTOP,
                desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help)
+        self.reset_status()
    def manual_probe_finalize(self, kin_pos):
        if kin_pos is not None:
            self.gcode.respond_info("Z position is %.3f" % (kin_pos[2],))
+    def reset_status(self):
+        self.status = {
+            'is_active': False,
+            'z_position': None,
+            'z_position_lower': None,
+            'z_position_upper': None
+        }
+    def get_status(self, eventtime):
+        return self.status
    cmd_MANUAL_PROBE_help = "Start manual probe helper script"
    def cmd_MANUAL_PROBE(self, gcmd):
        ManualProbeHelper(self.printer, gcmd, self.manual_probe_finalize)
@ -78,6 +88,7 @@ class ManualProbeHelper:
        self.finalize_callback = finalize_callback
        self.gcode = self.printer.lookup_object('gcode')
        self.toolhead = self.printer.lookup_object('toolhead')
+        self.manual_probe = self.printer.lookup_object('manual_probe')
        self.speed = gcmd.get_float("SPEED", 5.)
        self.past_positions = []
        self.last_toolhead_pos = self.last_kinematics_pos = None
@ -130,11 +141,20 @@ class ManualProbeHelper:
        prev_pos = next_pos - 1
        if next_pos < len(pp) and pp[next_pos] == z_pos:
            next_pos += 1
+        prev_pos_val = next_pos_val = None
        prev_str = next_str = "??????"
        if prev_pos >= 0:
-            prev_str = "%.3f" % (pp[prev_pos],)
+            prev_pos_val = pp[prev_pos]
+            prev_str = "%.3f" % (prev_pos_val,)
        if next_pos < len(pp):
-            next_str = "%.3f" % (pp[next_pos],)
+            next_pos_val = pp[next_pos]
+            next_str = "%.3f" % (next_pos_val,)
+        self.manual_probe.status = {
+            'is_active': True,
+            'z_position': z_pos,
+            'z_position_lower': prev_pos_val,
+            'z_position_upper': next_pos_val,
+        }
        # Find recent positions
        self.gcode.respond_info("Z position: %s --> %.3f <-- %s"
                                % (prev_str, z_pos, next_str))
@ -183,6 +203,7 @@ class ManualProbeHelper:
        self.move_z(next_z_pos)
        self.report_z_status(next_z_pos != z_pos, z_pos)
    def finalize(self, success):
+        self.manual_probe.reset_status()
        self.gcode.register_command('ACCEPT', None)
        self.gcode.register_command('NEXT', None)
        self.gcode.register_command('ABORT', None)
--- a/klippy/extras/mpu9250.py
+++ b/klippy/extras/mpu9250.py
@ -0,0 +1,268 @@
+# Support for reading acceleration data from an mpu9250 chip
+#
+# Copyright (C) 2022  Harry Beyel <harry3b9@gmail.com>
+# Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging, time, collections, threading, multiprocessing, os
+from . import bus, motion_report, adxl345
+
+MPU9250_ADDR =      0x68
+
+MPU9250_DEV_ID =    0x73
+MPU6050_DEV_ID =    0x68
+
+# MPU9250 registers
+REG_DEVID =         0x75
+REG_FIFO_EN =       0x23
+REG_SMPLRT_DIV =    0x19
+REG_CONFIG =        0x1A
+REG_ACCEL_CONFIG =  0x1C
+REG_ACCEL_CONFIG2 = 0x1D
+REG_USER_CTRL =     0x6A
+REG_PWR_MGMT_1 =    0x6B
+REG_PWR_MGMT_2 =    0x6C
+
+SAMPLE_RATE_DIVS = { 4000:0x00 }
+
+SET_CONFIG =        0x01 # FIFO mode 'stream' style
+SET_ACCEL_CONFIG =  0x10 # 8g full scale
+SET_ACCEL_CONFIG2 = 0x08 # 1046Hz BW, 0.503ms delay 4kHz sample rate
+SET_PWR_MGMT_1_WAKE =     0x00
+SET_PWR_MGMT_1_SLEEP=     0x40
+SET_PWR_MGMT_2_ACCEL_ON = 0x07
+SET_PWR_MGMT_2_OFF  =     0x3F
+
+FREEFALL_ACCEL = 9.80665 * 1000.
+# SCALE = 1/4096 g/LSB @8g scale * Earth gravity in mm/s**2
+SCALE = 0.000244140625 * FREEFALL_ACCEL
+
+FIFO_SIZE = 512
+
+Accel_Measurement = collections.namedtuple(
+    'Accel_Measurement', ('time', 'accel_x', 'accel_y', 'accel_z'))
+
+MIN_MSG_TIME = 0.100
+
+BYTES_PER_SAMPLE = 6
+SAMPLES_PER_BLOCK = 8
+
+# Printer class that controls MPU9250 chip
+class MPU9250:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        adxl345.AccelCommandHelper(config, self)
+        self.query_rate = 0
+        am = {'x': (0, SCALE), 'y': (1, SCALE), 'z': (2, SCALE),
+              '-x': (0, -SCALE), '-y': (1, -SCALE), '-z': (2, -SCALE)}
+        axes_map = config.getlist('axes_map', ('x','y','z'), count=3)
+        if any([a not in am for a in axes_map]):
+            raise config.error("Invalid mpu9250 axes_map parameter")
+        self.axes_map = [am[a.strip()] for a in axes_map]
+        self.data_rate = config.getint('rate', 4000)
+        if self.data_rate not in SAMPLE_RATE_DIVS:
+            raise config.error("Invalid rate parameter: %d" % (self.data_rate,))
+        # Measurement storage (accessed from background thread)
+        self.lock = threading.Lock()
+        self.raw_samples = []
+        # Setup mcu sensor_mpu9250 bulk query code
+        self.i2c = bus.MCU_I2C_from_config(config,
+                                           default_addr=MPU9250_ADDR,
+                                           default_speed=400000)
+        self.mcu = mcu = self.i2c.get_mcu()
+        self.oid = oid = mcu.create_oid()
+        self.query_mpu9250_cmd = self.query_mpu9250_end_cmd = None
+        self.query_mpu9250_status_cmd = None
+        mcu.register_config_callback(self._build_config)
+        mcu.register_response(self._handle_mpu9250_data, "mpu9250_data", oid)
+        # Clock tracking
+        self.last_sequence = self.max_query_duration = 0
+        self.last_limit_count = self.last_error_count = 0
+        self.clock_sync = adxl345.ClockSyncRegression(self.mcu, 640)
+        # 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("mpu9250/dump_mpu9250", "sensor", self.name,
+                                 self._handle_dump_mpu9250)
+    def _build_config(self):
+        cmdqueue = self.i2c.get_command_queue()
+        self.mcu.add_config_cmd("config_mpu9250 oid=%d i2c_oid=%d"
+                           % (self.oid, self.i2c.get_oid()))
+        self.mcu.add_config_cmd("query_mpu9250 oid=%d clock=0 rest_ticks=0"
+                           % (self.oid,), on_restart=True)
+        self.query_mpu9250_cmd = self.mcu.lookup_command(
+            "query_mpu9250 oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
+        self.query_mpu9250_end_cmd = self.mcu.lookup_query_command(
+            "query_mpu9250 oid=%c clock=%u rest_ticks=%u",
+            "mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
+            " buffered=%c fifo=%u limit_count=%hu", oid=self.oid, cq=cmdqueue)
+        self.query_mpu9250_status_cmd = self.mcu.lookup_query_command(
+            "query_mpu9250_status oid=%c",
+            "mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
+            " buffered=%c fifo=%u limit_count=%hu", oid=self.oid, cq=cmdqueue)
+    def read_reg(self, reg):
+        params = self.i2c.i2c_read([reg], 1)
+        return bytearray(params['response'])[0]
+
+    def set_reg(self, reg, val, minclock=0):
+        self.i2c.i2c_write([reg, val & 0xFF], minclock=minclock)
+
+    # Measurement collection
+    def is_measuring(self):
+        return self.query_rate > 0
+    def _handle_mpu9250_data(self, params):
+        with self.lock:
+            self.raw_samples.append(params)
+    def _extract_samples(self, raw_samples):
+        # Load variables to optimize inner loop below
+        (x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
+        last_sequence = self.last_sequence
+        time_base, chip_base, inv_freq = self.clock_sync.get_time_translation()
+        # Process every message in raw_samples
+        count = seq = 0
+        samples = [None] * (len(raw_samples) * SAMPLES_PER_BLOCK)
+        for params in raw_samples:
+            seq_diff = (last_sequence - params['sequence']) & 0xffff
+            seq_diff -= (seq_diff & 0x8000) << 1
+            seq = last_sequence - seq_diff
+            d = bytearray(params['data'])
+            msg_cdiff = seq * SAMPLES_PER_BLOCK - chip_base
+
+            for i in range(len(d) // BYTES_PER_SAMPLE):
+                d_xyz = d[i*BYTES_PER_SAMPLE:(i+1)*BYTES_PER_SAMPLE]
+                xhigh, xlow, yhigh, ylow, zhigh, zlow = d_xyz
+                # Merge and perform twos-complement
+                rx = ((xhigh << 8) | xlow) - ((xhigh & 0x80) << 9)
+                ry = ((yhigh << 8) | ylow) - ((yhigh & 0x80) << 9)
+                rz = ((zhigh << 8) | zlow) - ((zhigh & 0x80) << 9)
+
+                raw_xyz = (rx, ry, rz)
+                x = round(raw_xyz[x_pos] * x_scale, 6)
+                y = round(raw_xyz[y_pos] * y_scale, 6)
+                z = round(raw_xyz[z_pos] * z_scale, 6)
+                ptime = round(time_base + (msg_cdiff + i) * inv_freq, 6)
+                samples[count] = (ptime, x, y, z)
+                count += 1
+        self.clock_sync.set_last_chip_clock(seq * SAMPLES_PER_BLOCK + i)
+        del samples[count:]
+        return samples
+
+    def _update_clock(self, minclock=0):
+        # Query current state
+        for retry in range(5):
+            params = self.query_mpu9250_status_cmd.send([self.oid],
+                                                        minclock=minclock)
+            fifo = params['fifo'] & 0x1fff
+            if fifo <= FIFO_SIZE:
+                break
+        else:
+            raise self.printer.command_error("Unable to query mpu9250 fifo")
+        mcu_clock = self.mcu.clock32_to_clock64(params['clock'])
+        sequence = (self.last_sequence & ~0xffff) | params['next_sequence']
+        if sequence < self.last_sequence:
+            sequence += 0x10000
+        self.last_sequence = sequence
+        buffered = params['buffered']
+        limit_count = (self.last_limit_count & ~0xffff) | params['limit_count']
+        if limit_count < self.last_limit_count:
+            limit_count += 0x10000
+        self.last_limit_count = limit_count
+        duration = params['query_ticks']
+        if duration > self.max_query_duration:
+            # Skip measurement as a high query time could skew clock tracking
+            self.max_query_duration = max(2 * self.max_query_duration,
+                                          self.mcu.seconds_to_clock(.000005))
+            return
+        self.max_query_duration = 2 * duration
+        msg_count = (sequence * SAMPLES_PER_BLOCK
+                     + buffered // BYTES_PER_SAMPLE + fifo)
+        # The "chip clock" is the message counter plus .5 for average
+        # inaccuracy of query responses and plus .5 for assumed offset
+        # of mpu9250 hw processing time.
+        chip_clock = msg_count + 1
+        self.clock_sync.update(mcu_clock + duration // 2, chip_clock)
+    def _start_measurements(self):
+        if self.is_measuring():
+            return
+        # In case of miswiring, testing MPU9250 device ID prevents treating
+        # noise or wrong signal as a correctly initialized device
+        dev_id = self.read_reg(REG_DEVID)
+        if dev_id != MPU9250_DEV_ID and dev_id != MPU6050_DEV_ID:
+            raise self.printer.command_error(
+                "Invalid mpu9250/mpu6050 id (got %x).\n"
+                "This is generally indicative of connection problems\n"
+                "(e.g. faulty wiring) or a faulty chip."
+                % (dev_id))
+        # Setup chip in requested query rate
+        self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_WAKE)
+        self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_ACCEL_ON)
+        time.sleep(20. / 1000) # wait for accelerometer chip wake up
+        self.set_reg(REG_SMPLRT_DIV, SAMPLE_RATE_DIVS[self.data_rate])
+        self.set_reg(REG_CONFIG, SET_CONFIG)
+        self.set_reg(REG_ACCEL_CONFIG, SET_ACCEL_CONFIG)
+        self.set_reg(REG_ACCEL_CONFIG2, SET_ACCEL_CONFIG2)
+
+        # Setup samples
+        with self.lock:
+            self.raw_samples = []
+        # Start bulk reading
+        systime = self.printer.get_reactor().monotonic()
+        print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
+        reqclock = self.mcu.print_time_to_clock(print_time)
+        rest_ticks = self.mcu.seconds_to_clock(1. / self.data_rate)
+        self.query_rate = self.data_rate
+        self.query_mpu9250_cmd.send([self.oid, reqclock, rest_ticks],
+                                    reqclock=reqclock)
+        logging.info("MPU9250 starting '%s' measurements", self.name)
+        # Initialize clock tracking
+        self.last_sequence = 0
+        self.last_limit_count = self.last_error_count = 0
+        self.clock_sync.reset(reqclock, 0)
+        self.max_query_duration = 1 << 31
+        self._update_clock(minclock=reqclock)
+        self.max_query_duration = 1 << 31
+    def _finish_measurements(self):
+        if not self.is_measuring():
+            return
+        # Halt bulk reading
+        params = self.query_mpu9250_end_cmd.send([self.oid, 0, 0])
+        self.query_rate = 0
+        with self.lock:
+            self.raw_samples = []
+        logging.info("MPU9250 finished '%s' measurements", self.name)
+        self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_SLEEP)
+        self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_OFF)
+
+    # API interface
+    def _api_update(self, eventtime):
+        self._update_clock()
+        with self.lock:
+            raw_samples = self.raw_samples
+            self.raw_samples = []
+        if not raw_samples:
+            return {}
+        samples = self._extract_samples(raw_samples)
+        if not samples:
+            return {}
+        return {'data': samples, 'errors': self.last_error_count,
+                'overflows': self.last_limit_count}
+    def _api_startstop(self, is_start):
+        if is_start:
+            self._start_measurements()
+        else:
+            self._finish_measurements()
+    def _handle_dump_mpu9250(self, web_request):
+        self.api_dump.add_client(web_request)
+        hdr = ('time', 'x_acceleration', 'y_acceleration', 'z_acceleration')
+        web_request.send({'header': hdr})
+    def start_internal_client(self):
+        cconn = self.api_dump.add_internal_client()
+        return adxl345.AccelQueryHelper(self.printer, cconn)
+
+def load_config(config):
+    return MPU9250(config)
+
+def load_config_prefix(config):
+    return MPU9250(config)
--- a/klippy/extras/palette2.py
+++ b/klippy/extras/palette2.py
@ -544,13 +544,15 @@ class Palette2:
                self.cmd_Disconnect()
                return self.reactor.NEVER
            if len(raw_bytes):
-                text_buffer = self.read_buffer + str(raw_bytes.decode())
+                new_buffer = str(raw_bytes.decode(encoding='UTF-8',
+                                                  errors='ignore'))
+                text_buffer = self.read_buffer + new_buffer
                while True:
                    i = text_buffer.find("\n")
                    if i >= 0:
-                        line = text_buffer[0:i+1]
+                        line = text_buffer[0:i + 1]
                        self.read_queue.put(line.strip())
-                        text_buffer = text_buffer[i+1:]
+                        text_buffer = text_buffer[i + 1:]
                    else:
                        break
                self.read_buffer = text_buffer
@ -566,7 +568,7 @@ class Palette2:

            heartbeat_strings = [COMMAND_HEARTBEAT, "Connection Okay"]
            if not any(x in text_line for x in heartbeat_strings):
-                logging.debug("%0.3f P2 -> : %s" %(eventtime, text_line))
+                logging.debug("%0.3f P2 -> : %s" % (eventtime, text_line))

            # Received a heartbeat from the device
            if text_line == COMMAND_HEARTBEAT:
@ -621,7 +623,7 @@ class Palette2:
            idle_time = est_print_time - print_time
            if not lookahead_empty or idle_time < 0.5:
                return eventtime + \
-                    max(0., min(1., print_time - est_print_time))
+                       max(0., min(1., print_time - est_print_time))

            extrude = abs(self.remaining_load_length)
            extrude = min(50, extrude / 2)
@ -646,5 +648,6 @@ class Palette2:
            status["ping"] = self.omega_pings[-1]
        return status

+
 def load_config(config):
    return Palette2(config)
--- a/klippy/extras/resonance_tester.py
+++ b/klippy/extras/resonance_tester.py
@ -147,15 +147,21 @@ class ResonanceTester:
                (chip_axis, self.printer.lookup_object(chip_name))
                for chip_axis, chip_name in self.accel_chip_names]

-    def _run_test(self, gcmd, axes, helper, raw_name_suffix=None):
+    def _run_test(self, gcmd, axes, helper, raw_name_suffix=None,
+                  accel_chips=None, test_point=None):
        toolhead = self.printer.lookup_object('toolhead')
        calibration_data = {axis: None for axis in axes}

        self.test.prepare_test(gcmd)
-        test_points = self.test.get_start_test_points()
+
+        if test_point is not None:
+            test_points = [test_point]
+        else:
+            test_points = self.test.get_start_test_points()
+
        for point in test_points:
            toolhead.manual_move(point, self.move_speed)
-            if len(test_points) > 1:
+            if len(test_points) > 1 or test_point is not None:
                gcmd.respond_info(
                        "Probing point (%.3f, %.3f, %.3f)" % tuple(point))
            for axis in axes:
@ -165,29 +171,36 @@ class ResonanceTester:
                    gcmd.respond_info("Testing axis %s" % axis.get_name())

                raw_values = []
-                for chip_axis, chip in self.accel_chips:
-                    if axis.matches(chip_axis):
+                if accel_chips is None:
+                    for chip_axis, chip in self.accel_chips:
+                        if axis.matches(chip_axis):
+                            aclient = chip.start_internal_client()
+                            raw_values.append((chip_axis, aclient, chip.name))
+                else:
+                    for chip in accel_chips:
                        aclient = chip.start_internal_client()
-                        raw_values.append((chip_axis, aclient))
+                        raw_values.append((axis, aclient, chip.name))
+
                # Generate moves
                self.test.run_test(axis, gcmd)
-                for chip_axis, aclient in raw_values:
+                for chip_axis, aclient, chip_name in raw_values:
                    aclient.finish_measurements()
                    if raw_name_suffix is not None:
                        raw_name = self.get_filename(
                                'raw_data', raw_name_suffix, axis,
-                                point if len(test_points) > 1 else None)
+                                point if len(test_points) > 1 else None,
+                                chip_name if accel_chips is not None else None,)
                        aclient.write_to_file(raw_name)
                        gcmd.respond_info(
                                "Writing raw accelerometer data to "
                                "%s file" % (raw_name,))
                if helper is None:
                    continue
-                for chip_axis, aclient in raw_values:
+                for chip_axis, aclient, chip_name in raw_values:
                    if not aclient.has_valid_samples():
                        raise gcmd.error(
-                                "%s-axis accelerometer measured no data" % (
-                                    chip_axis,))
+                            "accelerometer '%s' measured no data" % (
+                                chip_name,))
                    new_data = helper.process_accelerometer_data(aclient)
                    if calibration_data[axis] is None:
                        calibration_data[axis] = new_data
@ -198,6 +211,28 @@ class ResonanceTester:
    def cmd_TEST_RESONANCES(self, gcmd):
        # Parse parameters
        axis = _parse_axis(gcmd, gcmd.get("AXIS").lower())
+        accel_chips = gcmd.get("CHIPS", None)
+        test_point = gcmd.get("POINT", None)
+
+        if test_point:
+            test_coords = test_point.split(',')
+            if len(test_coords) != 3:
+                raise gcmd.error("Invalid POINT parameter, must be 'x,y,z'")
+            try:
+                test_point = [float(p.strip()) for p in test_coords]
+            except ValueError:
+                raise gcmd.error("Invalid POINT parameter, must be 'x,y,z'"
+                " where x, y and z are valid floating point numbers")
+
+        if accel_chips:
+            parsed_chips = []
+            for chip_name in accel_chips.split(','):
+                if "adxl345" in chip_name:
+                    chip_lookup_name = chip_name.strip()
+                else:
+                    chip_lookup_name = "adxl345 " + chip_name.strip();
+                chip = self.printer.lookup_object(chip_lookup_name)
+                parsed_chips.append(chip)

        outputs = gcmd.get("OUTPUT", "resonances").lower().split(',')
        for output in outputs:
@ -221,10 +256,13 @@ class ResonanceTester:

        data = self._run_test(
                gcmd, [axis], helper,
-                raw_name_suffix=name_suffix if raw_output else None)[axis]
+                raw_name_suffix=name_suffix if raw_output else None,
+                accel_chips=parsed_chips if accel_chips else None,
+                test_point=test_point)[axis]
        if csv_output:
            csv_name = self.save_calibration_data('resonances', name_suffix,
-                                                  helper, axis, data)
+                                                  helper, axis, data,
+                                                  point=test_point)
            gcmd.respond_info(
                    "Resonances data written to %s file" % (csv_name,))
    cmd_SHAPER_CALIBRATE_help = (
@ -287,7 +325,8 @@ class ResonanceTester:
        for chip_axis, aclient in raw_values:
            if not aclient.has_valid_samples():
                raise gcmd.error(
-                        "%s-axis accelerometer measured no data" % (chip_axis,))
+                        "%s-axis accelerometer measured no data" % (
+                            chip_axis,))
            data = helper.process_accelerometer_data(aclient)
            vx = data.psd_x.mean()
            vy = data.psd_y.mean()
@ -299,18 +338,22 @@ class ResonanceTester:
    def is_valid_name_suffix(self, name_suffix):
        return name_suffix.replace('-', '').replace('_', '').isalnum()

-    def get_filename(self, base, name_suffix, axis=None, point=None):
+    def get_filename(self, base, name_suffix, axis=None,
+                     point=None, chip_name=None):
        name = base
        if axis:
            name += '_' + axis.get_name()
+        if chip_name:
+            name += '_' + chip_name.replace(" ", "_")
        if point:
            name += "_%.3f_%.3f_%.3f" % (point[0], point[1], point[2])
        name += '_' + name_suffix
        return os.path.join("/tmp", name + ".csv")

    def save_calibration_data(self, base_name, name_suffix, shaper_calibrate,
-                              axis, calibration_data, all_shapers=None):
-        output = self.get_filename(base_name, name_suffix, axis)
+                              axis, calibration_data,
+                              all_shapers=None, point=None):
+        output = self.get_filename(base_name, name_suffix, axis, point)
        shaper_calibrate.save_calibration_data(output, calibration_data,
                                               all_shapers)
        return output
--- a/klippy/extras/respond.py
+++ b/klippy/extras/respond.py
@ -10,6 +10,10 @@ respond_types = {
    'error' : '!!',
 }

+respond_types_no_space = {
+    'echo_no_space': 'echo:',
+}
+
 class HostResponder:
    def __init__(self, config):
        self.printer = config.get_printer()
@ -26,19 +30,26 @@ class HostResponder:
        gcmd.respond_raw("%s %s" % (self.default_prefix, msg))
    cmd_RESPOND_help = ("Echo the message prepended with a prefix")
    def cmd_RESPOND(self, gcmd):
+        no_space = False
        respond_type = gcmd.get('TYPE', None)
        prefix = self.default_prefix
        if(respond_type != None):
            respond_type = respond_type.lower()
            if(respond_type in respond_types):
                prefix = respond_types[respond_type]
+            elif(respond_type in respond_types_no_space):
+                prefix = respond_types_no_space[respond_type]
+                no_space = True
            else:
                raise gcmd.error(
                    "RESPOND TYPE '%s' is invalid. Must be one"
                    " of 'echo', 'command', or 'error'" % (respond_type,))
        prefix = gcmd.get('PREFIX', prefix)
        msg = gcmd.get('MSG', '')
-        gcmd.respond_raw("%s %s" % (prefix, msg))
+        if(no_space):
+            gcmd.respond_raw("%s%s" % (prefix, msg))
+        else:
+            gcmd.respond_raw("%s %s" % (prefix, msg))

 def load_config(config):
    return HostResponder(config)
--- a/klippy/extras/temperature_mcu.py
+++ b/klippy/extras/temperature_mcu.py
@ -72,6 +72,7 @@ class PrinterTemperatureMCU:
            ('stm32f070', self.config_stm32f070),
            ('stm32f072', self.config_stm32f0x2),
            ('stm32g0', self.config_stm32g0),
+            ('stm32h7', self.config_stm32h7),
            ('', self.config_unknown)]
        for name, func in cfg_funcs:
            if self.mcu_type.startswith(name):
@ -143,6 +144,11 @@ class PrinterTemperatureMCU:
        cal_adc_130 = self.read16(0x1FFF75CA) * 3.0 / (3.3 * 4095.)
        self.slope = (130. - 30.) / (cal_adc_130 - cal_adc_30)
        self.base_temperature = self.calc_base(30., cal_adc_30)
+    def config_stm32h7(self):
+        cal_adc_30 = self.read16(0x1FF1E820) / 65535.
+        cal_adc_110 = self.read16(0x1FF1E840) / 65535.
+        self.slope = (110. - 30.) / (cal_adc_110 - cal_adc_30)
+        self.base_temperature = self.calc_base(30., cal_adc_30)
    def read16(self, addr):
        params = self.debug_read_cmd.send([1, addr])
        return params['val']
--- a/klippy/extras/tuning_tower.py
+++ b/klippy/extras/tuning_tower.py
@ -99,6 +99,8 @@ class TuningTower:
        self.gcode.respond_info("Ending tuning test mode")
        self.gcode_move.set_move_transform(self.normal_transform, force=True)
        self.normal_transform = None
+    def is_active(self):
+        return self.normal_transform is not None

 def load_config(config):
    return TuningTower(config)
--- a/klippy/extras/virtual_sdcard.py
+++ b/klippy/extras/virtual_sdcard.py
@ -9,22 +9,27 @@ VALID_GCODE_EXTS = ['gcode', 'g', 'gco']

 class VirtualSD:
    def __init__(self, config):
-        printer = config.get_printer()
-        printer.register_event_handler("klippy:shutdown", self.handle_shutdown)
+        self.printer = config.get_printer()
+        self.printer.register_event_handler("klippy:shutdown",
+                                            self.handle_shutdown)
        # sdcard state
        sd = config.get('path')
        self.sdcard_dirname = os.path.normpath(os.path.expanduser(sd))
        self.current_file = None
        self.file_position = self.file_size = 0
        # Print Stat Tracking
-        self.print_stats = printer.load_object(config, 'print_stats')
+        self.print_stats = self.printer.load_object(config, 'print_stats')
        # Work timer
-        self.reactor = printer.get_reactor()
+        self.reactor = self.printer.get_reactor()
        self.must_pause_work = self.cmd_from_sd = False
        self.next_file_position = 0
        self.work_timer = None
+        # Error handling
+        gcode_macro = self.printer.load_object(config, 'gcode_macro')
+        self.on_error_gcode = gcode_macro.load_template(
+            config, 'on_error_gcode', '')
        # Register commands
-        self.gcode = printer.lookup_object('gcode')
+        self.gcode = self.printer.lookup_object('gcode')
        for cmd in ['M20', 'M21', 'M23', 'M24', 'M25', 'M26', 'M27']:
            self.gcode.register_command(cmd, getattr(self, 'cmd_' + cmd))
        for cmd in ['M28', 'M29', 'M30']:
@ -125,6 +130,7 @@ class VirtualSD:
            self.current_file = None
        self.file_position = self.file_size = 0.
        self.print_stats.reset()
+        self.printer.send_event("virtual_sdcard:reset_file")
    cmd_SDCARD_RESET_FILE_help = "Clears a loaded SD File. Stops the print "\
        "if necessary"
    def cmd_SDCARD_RESET_FILE(self, gcmd):
@ -258,6 +264,10 @@ class VirtualSD:
                self.gcode.run_script(line)
            except self.gcode.error as e:
                error_message = str(e)
+                try:
+                    self.gcode.run_script(self.on_error_gcode.render())
+                except:
+                    logging.exception("virtual_sdcard on_error")
                break
            except:
                logging.exception("virtual_sdcard dispatch")
--- a/klippy/kinematics/delta.py
+++ b/klippy/kinematics/delta.py
@ -150,6 +150,7 @@ class DeltaKinematics:
            'homed_axes': '' if self.need_home else 'xyz',
            'axis_minimum': self.axes_min,
            'axis_maximum': self.axes_max,
+            'cone_start_z': self.limit_z,
        }
    def get_calibration(self):
        endstops = [rail.get_homing_info().position_endstop
--- a/klippy/klippy.py
+++ b/klippy/klippy.py
@ -231,8 +231,7 @@ class Printer:
        run_result = self.run_result
        try:
            if run_result == 'firmware_restart':
-                for n, m in self.lookup_objects(module='mcu'):
-                    m.microcontroller_restart()
+                self.send_event("klippy:firmware_restart")
            self.send_event("klippy:disconnect")
        except:
            logging.exception("Unhandled exception during post run")
@ -342,7 +341,7 @@ def main():
        start_args['log_file'] = options.logfile
        bglogger = queuelogger.setup_bg_logging(options.logfile, debuglevel)
    else:
-        logging.basicConfig(level=debuglevel)
+        logging.getLogger().setLevel(debuglevel)
    logging.info("Starting Klippy...")
    start_args['software_version'] = util.get_git_version()
    start_args['cpu_info'] = util.get_cpu_info()
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@ -563,6 +563,7 @@ class MCU:
            self._restart_method = config.getchoice('restart_method',
                                                    rmethods, None)
        self._reset_cmd = self._config_reset_cmd = None
+        self._is_mcu_bridge = False
        self._emergency_stop_cmd = None
        self._is_shutdown = self._is_timeout = False
        self._shutdown_clock = 0
@ -589,9 +590,11 @@ class MCU:
        self._mcu_tick_stddev = 0.
        self._mcu_tick_awake = 0.
        # Register handlers
-        printer.register_event_handler("klippy:connect", self._connect)
+        printer.register_event_handler("klippy:firmware_restart",
+                                       self._firmware_restart)
        printer.register_event_handler("klippy:mcu_identify",
                                       self._mcu_identify)
+        printer.register_event_handler("klippy:connect", self._connect)
        printer.register_event_handler("klippy:shutdown", self._shutdown)
        printer.register_event_handler("klippy:disconnect", self._disconnect)
    # Serial callbacks
@ -797,6 +800,10 @@ class MCU:
        mbaud = msgparser.get_constant('SERIAL_BAUD', None)
        if self._restart_method is None and mbaud is None and not ext_only:
            self._restart_method = 'command'
+        if msgparser.get_constant('CANBUS_BRIDGE', 0):
+            self._is_mcu_bridge = True
+            self._printer.register_event_handler("klippy:firmware_restart",
+                                                 self._firmware_restart_bridge)
        version, build_versions = msgparser.get_version_info()
        self._get_status_info['mcu_version'] = version
        self._get_status_info['mcu_build_versions'] = build_versions
@ -914,7 +921,9 @@ class MCU:
        chelper.run_hub_ctrl(0)
        self._reactor.pause(self._reactor.monotonic() + 2.)
        chelper.run_hub_ctrl(1)
-    def microcontroller_restart(self):
+    def _firmware_restart(self, force=False):
+        if self._is_mcu_bridge and not force:
+            return
        if self._restart_method == 'rpi_usb':
            self._restart_rpi_usb()
        elif self._restart_method == 'command':
@ -923,6 +932,8 @@ class MCU:
            self._restart_cheetah()
        else:
            self._restart_arduino()
+    def _firmware_restart_bridge(self):
+        self._firmware_restart(True)
    # Misc external commands
    def is_fileoutput(self):
        return self._printer.get_start_args().get('debugoutput') is not None
--- a/klippy/reactor.py
+++ b/klippy/reactor.py
@ -50,9 +50,10 @@ class ReactorCallback:
        return self.reactor.NEVER

 class ReactorFileHandler:
-    def __init__(self, fd, callback):
+    def __init__(self, fd, read_callback, write_callback):
        self.fd = fd
-        self.callback = callback
+        self.read_callback = read_callback
+        self.write_callback = write_callback
    def fileno(self):
        return self.fd

@ -107,7 +108,8 @@ class SelectReactor:
        self._pipe_fds = None
        self._async_queue = queue.Queue()
        # File descriptors
-        self._fds = []
+        self._read_fds = []
+        self._write_fds = []
        # Greenlets
        self._g_dispatch = None
        self._greenlets = []
@ -236,12 +238,26 @@ class SelectReactor:
    def mutex(self, is_locked=False):
        return ReactorMutex(self, is_locked)
    # File descriptors
-    def register_fd(self, fd, callback):
-        file_handler = ReactorFileHandler(fd, callback)
-        self._fds.append(file_handler)
+    def register_fd(self, fd, read_callback, write_callback=None):
+        file_handler = ReactorFileHandler(fd, read_callback, write_callback)
+        self.set_fd_wake(file_handle, True, False)
        return file_handler
    def unregister_fd(self, file_handler):
-        self._fds.pop(self._fds.index(file_handler))
+        if file_handler in self._read_fds:
+            self._read_fds.pop(self._read_fds.index(file_handler))
+        if file_handler in self._write_fds:
+            self._write_fds.pop(self._write_fds.index(file_handler))
+    def set_fd_wake(self, file_handler, is_readable=True, is_writeable=False):
+        if file_hander in self._read_fds:
+            if not is_readable:
+                self._read_fds.pop(self._read_fds.index(file_handler))
+        elif is_readable:
+            self._read_fds.append(file_handler)
+        if file_hander in self._write_fds:
+            if not is_writeable:
+                self._write_fds.pop(self._write_fds.index(file_handler))
+        elif is_writeable:
+            self._write_fds.append(file_handler)
    # Main loop
    def _dispatch_loop(self):
        self._g_dispatch = g_dispatch = greenlet.getcurrent()
@ -250,11 +266,18 @@ class SelectReactor:
        while self._process:
            timeout = self._check_timers(eventtime, busy)
            busy = False
-            res = select.select(self._fds, [], [], timeout)
+            res = select.select(self._read_fds, self.write_fds, [], timeout)
            eventtime = self.monotonic()
            for fd in res[0]:
                busy = True
-                fd.callback(eventtime)
+                fd.read_callback(eventtime)
+                if g_dispatch is not self._g_dispatch:
+                    self._end_greenlet(g_dispatch)
+                    eventtime = self.monotonic()
+                    break
+            for fd in res[1]:
+                busy = True
+                fd.write_callback(eventtime)
                if g_dispatch is not self._g_dispatch:
                    self._end_greenlet(g_dispatch)
                    eventtime = self.monotonic()
@ -289,10 +312,10 @@ class PollReactor(SelectReactor):
        self._poll = select.poll()
        self._fds = {}
    # File descriptors
-    def register_fd(self, fd, callback):
-        file_handler = ReactorFileHandler(fd, callback)
+    def register_fd(self, fd, read_callback, write_callback=None):
+        file_handler = ReactorFileHandler(fd, read_callback, write_callback)
        fds = self._fds.copy()
-        fds[fd] = callback
+        fds[fd] = file_handler
        self._fds = fds
        self._poll.register(file_handler, select.POLLIN | select.POLLHUP)
        return file_handler
@ -301,6 +324,13 @@ class PollReactor(SelectReactor):
        fds = self._fds.copy()
        del fds[file_handler.fd]
        self._fds = fds
+    def set_fd_wake(self, file_handler, is_readable=True, is_writeable=False):
+        flags = select.POLLHUP
+        if is_readable:
+            flags |= select.POLLIN
+        if is_writeable:
+            flags |= select.POLLOUT
+        self._poll.modify(file_handler, flags)
    # Main loop
    def _dispatch_loop(self):
        self._g_dispatch = g_dispatch = greenlet.getcurrent()
@ -313,11 +343,18 @@ class PollReactor(SelectReactor):
            eventtime = self.monotonic()
            for fd, event in res:
                busy = True
-                self._fds[fd](eventtime)
-                if g_dispatch is not self._g_dispatch:
-                    self._end_greenlet(g_dispatch)
-                    eventtime = self.monotonic()
-                    break
+                if event & (select.POLLIN | select.POLLHUP):
+                    self._fds[fd].read_callback(eventtime)
+                    if g_dispatch is not self._g_dispatch:
+                        self._end_greenlet(g_dispatch)
+                        eventtime = self.monotonic()
+                        break
+                if event & select.POLLOUT:
+                    self._fds[fd].write_callback(eventtime)
+                    if g_dispatch is not self._g_dispatch:
+                        self._end_greenlet(g_dispatch)
+                        eventtime = self.monotonic()
+                        break
        self._g_dispatch = None

 class EPollReactor(SelectReactor):
@ -326,8 +363,8 @@ class EPollReactor(SelectReactor):
        self._epoll = select.epoll()
        self._fds = {}
    # File descriptors
-    def register_fd(self, fd, callback):
-        file_handler = ReactorFileHandler(fd, callback)
+    def register_fd(self, fd, read_callback, write_callback=None):
+        file_handler = ReactorFileHandler(fd, read_callback, write_callback)
        fds = self._fds.copy()
        fds[fd] = callback
        self._fds = fds
@ -338,6 +375,13 @@ class EPollReactor(SelectReactor):
        fds = self._fds.copy()
        del fds[file_handler.fd]
        self._fds = fds
+    def set_fd_wake(self, file_handler, is_readable=True, is_writeable=False):
+        flags = select.POLLHUP
+        if is_readable:
+            flags |= select.EPOLLIN
+        if is_writeable:
+            flags |= select.EPOLLOUT
+        self._epoll.modify(file_handler, flags)
    # Main loop
    def _dispatch_loop(self):
        self._g_dispatch = g_dispatch = greenlet.getcurrent()
@ -350,11 +394,18 @@ class EPollReactor(SelectReactor):
            eventtime = self.monotonic()
            for fd, event in res:
                busy = True
-                self._fds[fd](eventtime)
-                if g_dispatch is not self._g_dispatch:
-                    self._end_greenlet(g_dispatch)
-                    eventtime = self.monotonic()
-                    break
+                if event & (select.EPOLLIN | select.EPOLLHUP):
+                    self._fds[fd].read_callback(eventtime)
+                    if g_dispatch is not self._g_dispatch:
+                        self._end_greenlet(g_dispatch)
+                        eventtime = self.monotonic()
+                        break
+                if event & select.EPOLLOUT:
+                    self._fds[fd].write_callback(eventtime)
+                    if g_dispatch is not self._g_dispatch:
+                        self._end_greenlet(g_dispatch)
+                        eventtime = self.monotonic()
+                        break
        self._g_dispatch = None

 # Use the poll based reactor if it is available
--- a/klippy/serialhdl.py
+++ b/klippy/serialhdl.py
@ -12,7 +12,6 @@ class error(Exception):
    pass

 class SerialReader:
-    BITS_PER_BYTE = 10.
    def __init__(self, reactor, warn_prefix=""):
        self.reactor = reactor
        self.warn_prefix = warn_prefix
@ -97,11 +96,13 @@ class SerialReader:
        self.msgparser = msgparser
        self.register_response(self.handle_unknown, '#unknown')
        # Setup baud adjust
-        mcu_baud = msgparser.get_constant_float('SERIAL_BAUD', None)
-        if mcu_baud is not None:
-            baud_adjust = self.BITS_PER_BYTE / mcu_baud
-            self.ffi_lib.serialqueue_set_baud_adjust(
-                self.serialqueue, baud_adjust)
+        if serial_fd_type == b'c':
+            wire_freq = msgparser.get_constant_float('CANBUS_FREQUENCY', None)
+        else:
+            wire_freq = msgparser.get_constant_float('SERIAL_BAUD', None)
+        if wire_freq is not None:
+            self.ffi_lib.serialqueue_set_wire_frequency(self.serialqueue,
+                                                        wire_freq)
        receive_window = msgparser.get_constant_int('RECEIVE_WINDOW', None)
        if receive_window is not None:
            self.ffi_lib.serialqueue_set_receive_window(
--- a/klippy/webhooks.py
+++ b/klippy/webhooks.py
@ -162,6 +162,16 @@ class ServerSocket:
    def pop_client(self, client_id):
        self.clients.pop(client_id, None)

+    def stats(self, eventtime):
+        # Called once per second - check for idle clients
+        for client in list(self.clients.values()):
+            if client.is_blocking:
+                client.blocking_count -= 1
+                if client.blocking_count < 0:
+                    logging.info("Closing unresponsive client %s", client.uid)
+                    client.close()
+        return False, ""
+
 class ClientConnection:
    def __init__(self, server, sock):
        self.printer = server.printer
@ -171,9 +181,10 @@ class ClientConnection:
        self.uid = id(self)
        self.sock = sock
        self.fd_handle = self.reactor.register_fd(
-            self.sock.fileno(), self.process_received)
+            self.sock.fileno(), self.process_received, self._do_send)
        self.partial_data = self.send_buffer = b""
-        self.is_sending_data = False
+        self.is_blocking = False
+        self.blocking_count = 0
        self.set_client_info("?", "New connection")
        self.request_log = collections.deque([], REQUEST_LOG_SIZE)

@ -259,33 +270,29 @@ class ClientConnection:
    def send(self, data):
        jmsg = json.dumps(data, separators=(',', ':'))
        self.send_buffer += jmsg.encode() + b"\x03"
-        if not self.is_sending_data:
-            self.is_sending_data = True
-            self.reactor.register_callback(self._do_send)
+        if not self.is_blocking:
+            self._do_send()

-    def _do_send(self, eventtime):
-        retries = 10
-        while self.send_buffer:
-            try:
-                sent = self.sock.send(self.send_buffer)
-            except socket.error as e:
-                if e.errno == errno.EBADF or e.errno == errno.EPIPE \
-                        or not retries:
-                    sent = 0
-                else:
-                    retries -= 1
-                    waketime = self.reactor.monotonic() + .001
-                    self.reactor.pause(waketime)
-                    continue
-            retries = 10
-            if sent > 0:
-                self.send_buffer = self.send_buffer[sent:]
-            else:
-                logging.info(
-                    "webhooks: Error sending server data,  closing socket")
+    def _do_send(self, eventtime=None):
+        if self.fd_handle is None:
+            return
+        try:
+            sent = self.sock.send(self.send_buffer)
+        except socket.error as e:
+            if e.errno not in [errno.EAGAIN, errno.EWOULDBLOCK]:
+                logging.info("webhooks: socket write error %d" % (self.uid,))
                self.close()
-                break
-        self.is_sending_data = False
+                return
+            sent = 0
+        if sent < len(self.send_buffer):
+            if not self.is_blocking:
+                self.reactor.set_fd_wake(self.fd_handle, False, True)
+                self.is_blocking = True
+                self.blocking_count = 5
+        elif self.is_blocking:
+            self.reactor.set_fd_wake(self.fd_handle, True, False)
+            self.is_blocking = False
+        self.send_buffer = self.send_buffer[sent:]

 class WebHooks:
    def __init__(self, printer):
@ -375,6 +382,9 @@ class WebHooks:
        state_message, state = self.printer.get_state_message()
        return {'state': state, 'state_message': state_message}

+    def stats(self, eventtime):
+        return self.sconn.stats(eventtime)
+
    def call_remote_method(self, method, **kwargs):
        if method not in self._remote_methods:
            raise self.printer.command_error(
--- a/lib/README
+++ b/lib/README
@ -125,6 +125,10 @@ callbacks.

 The canboot directory contains code from:
  https://github.com/Arksine/CanBoot
-revision ae687a404d0edb2724a084f78e565dbc7dd505aa.  The Python module,
+revision 870200826561b150137913d42fd7edc6515229ff.  The Python module,
 flash_can.py, is taken from the repo's scripts directory.  It may be
 used to upload firmware to devices flashed with the CanBoot bootloader.
+
+The can2040 directory contains code from:
+  https://github.com/KevinOConnor/can2040
+revision 9ca095c939a48391de60dd353f0cd91999bb9257.
--- a/lib/can2040/can2040.c
+++ b/lib/can2040/can2040.c
--- a/lib/can2040/can2040.h
+++ b/lib/can2040/can2040.h
@ -0,0 +1,79 @@
+#ifndef _CAN2040_H
+#define _CAN2040_H
+
+#include <stdint.h> // uint32_t
+
+struct can2040_msg {
+    uint32_t id;
+    uint32_t dlc;
+    union {
+        uint8_t data[8];
+        uint32_t data32[2];
+    };
+};
+
+enum {
+    CAN2040_ID_RTR = 1<<30,
+    CAN2040_ID_EFF = 1<<31,
+};
+
+enum {
+    CAN2040_NOTIFY_RX = 1<<20,
+    CAN2040_NOTIFY_TX = 1<<21,
+    CAN2040_NOTIFY_ERROR = 1<<23,
+};
+struct can2040;
+typedef void (*can2040_rx_cb)(struct can2040 *cd, uint32_t notify
+                              , struct can2040_msg *msg);
+
+void can2040_setup(struct can2040 *cd, uint32_t pio_num);
+void can2040_callback_config(struct can2040 *cd, can2040_rx_cb rx_cb);
+void can2040_start(struct can2040 *cd, uint32_t sys_clock, uint32_t bitrate
+                   , uint32_t gpio_rx, uint32_t gpio_tx);
+void can2040_shutdown(struct can2040 *cd);
+void can2040_pio_irq_handler(struct can2040 *cd);
+int can2040_check_transmit(struct can2040 *cd);
+int can2040_transmit(struct can2040 *cd, struct can2040_msg *msg);
+
+
+/****************************************************************
+ * Internal definitions
+ ****************************************************************/
+
+struct can2040_bitunstuffer {
+    uint32_t stuffed_bits, count_stuff;
+    uint32_t unstuffed_bits, count_unstuff;
+};
+
+struct can2040_transmit {
+    struct can2040_msg msg;
+    uint32_t crc, stuffed_words, stuffed_data[5];
+};
+
+struct can2040 {
+    // Setup
+    uint32_t pio_num;
+    void *pio_hw;
+    uint32_t gpio_rx, gpio_tx;
+    can2040_rx_cb rx_cb;
+
+    // Bit unstuffing
+    struct can2040_bitunstuffer unstuf;
+    uint32_t raw_bit_count;
+
+    // Input data state
+    uint32_t parse_state;
+    uint32_t parse_crc;
+    struct can2040_msg parse_msg;
+
+    // Reporting
+    uint32_t report_state;
+    uint32_t report_eof_key;
+
+    // Transmits
+    uint32_t tx_state;
+    uint32_t tx_pull_pos, tx_push_pos;
+    struct can2040_transmit tx_queue[4];
+};
+
+#endif // can2040.h
--- a/lib/canboot/flash_can.py
+++ b/lib/canboot/flash_can.py
@ -496,9 +496,70 @@ class CanSocket:
        self._loop.remove_reader(self.cansock.fileno())
        self.cansock.close()

+class SerialSocket:
+    def __init__(self, loop: asyncio.AbstractEventLoop):
+        self._loop = loop
+        self.serial = self.serial_error = None
+        self.node = CanNode(0, self)
+
+    def _handle_response(self) -> None:
+        try:
+            data = self.serial.read(4096)
+        except self.serial_error as e:
+            logging.exception("Error on serial read")
+            self.close()
+        self.node.feed_data(data)
+
+    def send(self, can_id: int, payload: bytes = b"") -> None:
+        try:
+            self.serial.write(payload)
+        except self.serial_error as e:
+            logging.exception("Error on serial write")
+            self.close()
+
+    async def run(self, intf: str, baud: int, fw_path: pathlib.Path) -> None:
+        if not fw_path.is_file():
+            raise FlashCanError("Invalid firmware path '%s'" % (fw_path))
+        import serial
+        self.serial_error = serial.SerialException
+        try:
+            serial_dev = serial.Serial(baudrate=baud, timeout=0,
+                                       exclusive=True)
+            serial_dev.port = intf
+            serial_dev.open()
+        except (OSError, IOError, self.serial_error) as e:
+            raise FlashCanError("Unable to open serial port: %s" % (e,))
+        self.serial = serial_dev
+        self._loop.add_reader(self.serial.fileno(), self._handle_response)
+        flasher = CanFlasher(self.node, fw_path)
+        try:
+            await flasher.connect_btl()
+            await flasher.send_file()
+            await flasher.verify_file()
+        finally:
+            # always attempt to send the complete command. If
+            # there is an error it will exit the bootloader
+            # unless comms were broken
+            await flasher.finish()
+
+    def close(self):
+        if self.serial is None:
+            return
+        self._loop.remove_reader(self.serial.fileno())
+        self.serial.close()
+        self.serial = None
+
 def main():
    parser = argparse.ArgumentParser(
        description="Can Bootloader Flash Utility")
+    parser.add_argument(
+        "-d", "--device", metavar='<serial device>',
+        help="Serial Device"
+    )
+    parser.add_argument(
+        "-b", "--baud", default=250000, metavar='<baud rate>',
+        help="Serial baud rate"
+    )
    parser.add_argument(
        "-i", "--interface", default="can0", metavar='<can interface>',
        help="Can Interface"
@ -522,27 +583,37 @@ def main():

    args = parser.parse_args()
    if not args.verbose:
-        logging.getLogger().setLevel(logging.CRITICAL)
+        logging.getLogger().setLevel(logging.ERROR)
    intf = args.interface
    fpath = pathlib.Path(args.firmware).expanduser().resolve()
    loop = asyncio.get_event_loop()
+    iscan = args.device is None
+    sock = None
    try:
-        cansock = CanSocket(loop)
-        if args.query:
-            loop.run_until_complete(cansock.run_query(intf))
+        if iscan:
+            sock = CanSocket(loop)
+            if args.query:
+                loop.run_until_complete(sock.run_query(intf))
+            else:
+                if args.uuid is None:
+                    raise FlashCanError(
+                        "The 'uuid' option must be specified to flash a device"
+                    )
+                uuid = int(args.uuid, 16)
+                loop.run_until_complete(sock.run(intf, uuid, fpath))
        else:
-            if args.uuid is None:
+            if args.device is None:
                raise FlashCanError(
-                    "The 'uuid' option must be specified to flash a device"
+                    "The 'device' option must be specified to flash a device"
                )
-            uuid = int(args.uuid, 16)
-            loop.run_until_complete(cansock.run(intf, uuid, fpath))
+            sock = SerialSocket(loop)
+            loop.run_until_complete(sock.run(args.device, args.baud, fpath))
    except Exception as e:
        logging.exception("Can Flash Error")
        sys.exit(-1)
    finally:
-        if cansock is not None:
-            cansock.close()
+        if sock is not None:
+            sock.close()
    if args.query:
        output_line("Query Complete")
    else:
--- a/lib/rp2040/boot_stage2/boot2_generic_03h.S
+++ b/lib/rp2040/boot_stage2/boot2_generic_03h.S
@ -16,7 +16,7 @@
 //                4-byte checksum. Therefore code size cannot exceed 252 bytes.
 // ----------------------------------------------------------------------------

-#include "pico/asm_helper.S"
+//#include "pico/asm_helper.S"
 #include "hardware/regs/addressmap.h"
 #include "hardware/regs/ssi.h"

--- a/lib/rp2040/rp2040.patch
+++ b/lib/rp2040/rp2040.patch
@ -1,3 +1,16 @@
+diff --git a/lib/rp2040/boot_stage2/boot2_generic_03h.S b/lib/rp2040/boot_stage2/boot2_generic_03h.S
+index a10e66abd..cc7e4fbc7 100644
+--- a/lib/rp2040/boot_stage2/boot2_generic_03h.S
+++ b/lib/rp2040/boot_stage2/boot2_generic_03h.S
+@@ -16,7 +16,7 @@
+ //                4-byte checksum. Therefore code size cannot exceed 252 bytes.
+ // ----------------------------------------------------------------------------
+ 
+-#include "pico/asm_helper.S"
+//#include "pico/asm_helper.S"
+ #include "hardware/regs/addressmap.h"
+ #include "hardware/regs/ssi.h"
+ 
 diff --git a/lib/rp2040/boot_stage2/boot2_w25q080.S b/lib/rp2040/boot_stage2/boot2_w25q080.S
 index ad3238e2..8fb3def4 100644
 --- a/lib/rp2040/boot_stage2/boot2_w25q080.S
--- a/scripts/flash_usb.py
+++ b/scripts/flash_usb.py
@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 # Tool to enter a USB bootloader and flash Klipper
 #
 # Copyright (C) 2019  Kevin O'Connor <kevin@koconnor.net>
@ -27,6 +27,8 @@ def enter_bootloader(device):
 # Translate a serial device name to a stable serial name in /dev/serial/by-path/
 def translate_serial_to_tty(device):
    ttyname = os.path.realpath(device)
+    if not os.path.exists('/dev/serial/by-path/'):
+        raise error("Unable to find serial 'by-path' folder")
    for fname in os.listdir('/dev/serial/by-path/'):
        fname = '/dev/serial/by-path/' + fname
        if os.path.realpath(fname) == ttyname:
@ -71,6 +73,42 @@ def wait_path(path, alt_path=None):
        if cur_time > end_time:
            return path

+CANBOOT_ID ="1d50:6177"
+
+def detect_canboot(devpath):
+    usbdir = os.path.dirname(devpath)
+    try:
+        with open(os.path.join(usbdir, "idVendor")) as f:
+            vid = f.read().strip().lower()
+        with open(os.path.join(usbdir, "idProduct")) as f:
+            pid = f.read().strip().lower()
+    except Exception:
+        return False
+    usbid = "%s:%s" % (vid, pid)
+    return usbid == CANBOOT_ID
+
+def call_flashcan(device, binfile):
+    try:
+        import serial
+    except ModuleNotFoundError:
+        sys.stderr.write(
+            "Python's pyserial module is required to update. Install\n"
+            "with the following command:\n"
+            "   %s -m pip install pyserial\n\n" % (sys.executable,)
+        )
+        sys.exit(-1)
+    args = [sys.executable, "lib/canboot/flash_can.py", "-d",
+            device, "-f", binfile]
+    sys.stderr.write(" ".join(args) + '\n\n')
+    res = subprocess.call(args)
+    if res != 0:
+        sys.stderr.write("Error running flash_can.py\n")
+        sys.exit(-1)
+
+def flash_canboot(options, binfile):
+    ttyname, pathname = translate_serial_to_tty(options.device)
+    call_flashcan(pathname, binfile)
+
 # Flash via a call to bossac
 def flash_bossac(device, binfile, extra_flags=[]):
    ttyname, pathname = translate_serial_to_tty(device)
@ -108,10 +146,14 @@ def flash_dfuutil(device, binfile, extra_flags=[], sudo=True):
    if hexfmt_r.match(device.strip()):
        call_dfuutil(["-d", ","+device.strip()] + extra_flags, binfile, sudo)
        return
+    ttyname, serbypath = translate_serial_to_tty(device)
    buspath, devpath = translate_serial_to_usb_path(device)
    enter_bootloader(device)
    pathname = wait_path(devpath)
-    call_dfuutil(["-p", buspath] + extra_flags, binfile, sudo)
+    if detect_canboot(devpath):
+        call_flashcan(serbypath, binfile)
+    else:
+        call_dfuutil(["-p", buspath] + extra_flags, binfile, sudo)

 def call_hidflash(binfile, sudo):
    args = ["lib/hidflash/hid-flash", binfile]
@ -128,10 +170,40 @@ def flash_hidflash(device, binfile, sudo=True):
    if hexfmt_r.match(device.strip()):
        call_hidflash(binfile, sudo)
        return
+    ttyname, serbypath = translate_serial_to_tty(device)
    buspath, devpath = translate_serial_to_usb_path(device)
    enter_bootloader(device)
    pathname = wait_path(devpath)
-    call_hidflash(binfile, sudo)
+    if detect_canboot(devpath):
+        call_flashcan(serbypath, binfile)
+    else:
+        call_hidflash(binfile, sudo)
+
+# Call Klipper modified "picoboot"
+def call_picoboot(bus, addr, binfile, sudo):
+    args = ["lib/rp2040_flash/rp2040_flash", binfile]
+    if bus is not None:
+        args.extend([bus, addr])
+    if sudo:
+        args.insert(0, "sudo")
+    sys.stderr.write(" ".join(args) + '\n\n')
+    res = subprocess.call(args)
+    if res != 0:
+        raise error("Error running rp2040_flash")
+
+# Flash via Klipper modified "picoboot"
+def flash_picoboot(device, binfile, sudo):
+    buspath, devpath = translate_serial_to_usb_path(device)
+    # We need one level up to get access to busnum/devnum files
+    usbdir = os.path.dirname(devpath)
+    enter_bootloader(device)
+    wait_path(usbdir)
+    with open(usbdir + "/busnum") as f:
+        bus = f.read().strip()
+    with open(usbdir + "/devnum") as f:
+        addr = f.read().strip()
+    call_picoboot(bus, addr, binfile, sudo)
+

 ######################################################################
 # Device specific helpers
@ -162,22 +234,6 @@ def flash_atsamd(options, binfile):
            options.device, str(e)))
        sys.exit(-1)

-# Look for an rp2040 and flash it with rp2040_flash.
-def rp2040_flash(devpath, binfile, sudo):
-    args = ["lib/rp2040_flash/rp2040_flash", binfile]
-    if len(devpath) > 0:
-        with open(devpath + "/busnum") as f:
-            bus = f.read().strip()
-        with open(devpath + "/devnum") as f:
-            addr = f.read().strip()
-        args += [bus, addr]
-    sys.stderr.write(" ".join(args) + '\n\n')
-    if sudo:
-        args.insert(0, "sudo")
-    res = subprocess.call(args)
-    if res != 0:
-        raise error("Error running rp2040_flash")
-
 SMOOTHIE_HELP = """
 Failed to flash to %s: %s

@ -259,27 +315,22 @@ def flash_stm32f4(options, binfile):
 RP2040_HELP = """
 Failed to flash to %s: %s

-If the device is already in bootloader mode, use 'first' as FLASH_DEVICE.
-This will use rp2040_flash to flash the first available rp2040.
+If the device is already in bootloader mode it can be flashed with the
+following command:
+  make flash FLASH_DEVICE=2e8a:0003

 Alternatively, one can flash rp2040 boards like the Pico by manually
 entering bootloader mode(hold bootsel button during powerup), mount the
 device as a usb drive, and copy klipper.uf2 to the device.
+
 """

 def flash_rp2040(options, binfile):
    try:
-        if options.device.lower() == "first":
-            rp2040_flash("", binfile, options.sudo)
-            return
-
-        buspath, devpath = translate_serial_to_usb_path(options.device)
-        # We need one level up to get access to busnum/devnum files
-        devpath = os.path.dirname(devpath)
-        enter_bootloader(options.device)
-        wait_path(devpath)
-        rp2040_flash(devpath, binfile, options.sudo)
-
+        if options.device.lower() == "2e8a:0003":
+            call_picoboot(None, None, binfile, options.sudo)
+        else:
+            flash_picoboot(options.device, binfile, options.sudo)
    except error as e:
        sys.stderr.write(RP2040_HELP % (options.device, str(e)))
        sys.exit(-1)
@ -288,7 +339,8 @@ MCUTYPES = {
    'sam3': flash_atsam3, 'sam4': flash_atsam4, 'samd': flash_atsamd,
    'same70': flash_atsam4, 'lpc176': flash_lpc176x, 'stm32f103': flash_stm32f1,
    'stm32f4': flash_stm32f4, 'stm32f042': flash_stm32f4,
-    'stm32f072': flash_stm32f4, 'rp2040': flash_rp2040
+    'stm32f072': flash_stm32f4, 'stm32g0b1': flash_stm32f4,
+    'stm32h7': flash_stm32f4, 'rp2040': flash_rp2040
 }


--- a/scripts/graphstats.py
+++ b/scripts/graphstats.py
@ -181,14 +181,48 @@ def plot_system(data):
    ax1.grid(True)
    return fig

-def plot_frequency(data, mcu):
+def plot_mcu_frequencies(data):
    all_keys = {}
    for d in data:
        all_keys.update(d)
-    one_mcu = mcu is not None
    graph_keys = { key: ([], []) for key in all_keys
-                   if (key in ("freq", "adj") or (not one_mcu and (
-                           key.endswith(":freq") or key.endswith(":adj")))) }
+                   if (key in ("freq", "adj")
+                       or (key.endswith(":freq") or key.endswith(":adj"))) }
+    for d in data:
+        st = datetime.datetime.utcfromtimestamp(d['#sampletime'])
+        for key, (times, values) in graph_keys.items():
+            val = d.get(key)
+            if val not in (None, '0', '1'):
+                times.append(st)
+                values.append(float(val))
+    est_mhz = { key: round((sum(values)/len(values)) / 1000000.)
+                for key, (times, values) in graph_keys.items() }
+
+    # Build plot
+    fig, ax1 = matplotlib.pyplot.subplots()
+    ax1.set_title("MCU frequencies")
+    ax1.set_xlabel('Time')
+    ax1.set_ylabel('Microsecond deviation')
+    for key in sorted(graph_keys):
+        times, values = graph_keys[key]
+        mhz = est_mhz[key]
+        label = "%s(%dMhz)" % (key, mhz)
+        hz = mhz * 1000000.
+        ax1.plot_date(times, [(v - hz)/mhz for v in values], '.', label=label)
+    fontP = matplotlib.font_manager.FontProperties()
+    fontP.set_size('x-small')
+    ax1.legend(loc='best', prop=fontP)
+    ax1.xaxis.set_major_formatter(matplotlib.dates.DateFormatter('%H:%M'))
+    ax1.yaxis.set_major_formatter(matplotlib.ticker.FormatStrFormatter('%d'))
+    ax1.grid(True)
+    return fig
+
+def plot_mcu_frequency(data, mcu):
+    all_keys = {}
+    for d in data:
+        all_keys.update(d)
+    graph_keys = { key: ([], []) for key in all_keys
+                   if key in ("freq", "adj") }
    for d in data:
        st = datetime.datetime.utcfromtimestamp(d['#sampletime'])
        for key, (times, values) in graph_keys.items():
@ -199,10 +233,7 @@ def plot_frequency(data, mcu):

    # Build plot
    fig, ax1 = matplotlib.pyplot.subplots()
-    if one_mcu:
-        ax1.set_title("MCU '%s' frequency" % (mcu,))
-    else:
-        ax1.set_title("MCU frequency")
+    ax1.set_title("MCU '%s' frequency" % (mcu,))
    ax1.set_xlabel('Time')
    ax1.set_ylabel('Frequency')
    for key in sorted(graph_keys):
@ -286,7 +317,10 @@ def main():
    if options.heater is not None:
        fig = plot_temperature(data, options.heater)
    elif options.frequency:
-        fig = plot_frequency(data, options.mcu)
+        if options.mcu is not None:
+            fig = plot_mcu_frequency(data, options.mcu)
+        else:
+            fig = plot_mcu_frequencies(data)
    elif options.system:
        fig = plot_system(data)
    else:
--- a/scripts/install-debian.sh
+++ b/scripts/install-debian.sh
@ -20,7 +20,7 @@ install_packages()
    PKGLIST="${PKGLIST} avrdude gcc-avr binutils-avr avr-libc"
    # ARM chip installation and building
    PKGLIST="${PKGLIST} stm32flash libnewlib-arm-none-eabi"
-    PKGLIST="${PKGLIST} gcc-arm-none-eabi binutils-arm-none-eabi libusb-1.0"
+    PKGLIST="${PKGLIST} gcc-arm-none-eabi binutils-arm-none-eabi libusb-1.0 pkg-config"

    # Update system package info
    report_status "Running apt-get update..."
--- a/scripts/spi_flash/board_defs.py
+++ b/scripts/spi_flash/board_defs.py
@ -65,6 +65,16 @@ BOARD_DEFS = {
        'mcu': 'stm32h743xx',
        'spi_bus': 'spi3a',
        'cs_pin': 'PA15'
+    },
+    'monster8': {
+        'mcu': "stm32f407xx",
+        'spi_bus': "spi3a",
+        "cs_pin": "PC9"
+    },
+    'fly-gemini-v2': {
+        'mcu': "stm32f405xx",
+        'spi_bus': "spi1",
+        "cs_pin": "PA4"
    }
 }

@ -99,7 +109,9 @@ BOARD_ALIASES = {
    'mks-robin-e3d': BOARD_DEFS['mks-robin-e3'],
    'fysetc-spider-v1': BOARD_DEFS['fysetc-spider'],
    'fysetc-s6-v1.2': BOARD_DEFS['fysetc-spider'],
-    'fysetc-s6-v2': BOARD_DEFS['fysetc-spider']
+    'fysetc-s6-v2': BOARD_DEFS['fysetc-spider'],
+    'monster8': BOARD_DEFS['monster8'],
+    'robin_v3': BOARD_DEFS['monster8']
 }

 def list_boards():
--- a/src/Kconfig
+++ b/src/Kconfig
@ -42,6 +42,8 @@ source "src/linux/Kconfig"
 source "src/simulator/Kconfig"

 # Generic configuration options for serial ports
+config SERIAL
+    bool
 config SERIAL_BAUD
    depends on SERIAL
    int "Baud rate for serial port" if LOW_LEVEL_OPTIONS
@ -51,28 +53,49 @@ config SERIAL_BAUD
        to 250000. Read the FAQ before changing this value.

 # Generic configuration options for USB
+config USBSERIAL
+    bool
+config USBCANBUS
+    bool
+config USB
+    bool
+    default y if USBSERIAL || USBCANBUS
 config USB_VENDOR_ID
    default 0x1d50
 config USB_DEVICE_ID
    default 0x614e
 config USB_SERIAL_NUMBER_CHIPID
-    depends on HAVE_CHIPID
+    depends on USB && HAVE_CHIPID
    default y
 config USB_SERIAL_NUMBER
    default "12345"

 menu "USB ids"
-    depends on USBSERIAL && LOW_LEVEL_OPTIONS
+    depends on USB && LOW_LEVEL_OPTIONS
 config USB_VENDOR_ID
-    hex "USB vendor ID"
+    hex "USB vendor ID" if USBSERIAL
 config USB_DEVICE_ID
-    hex "USB device ID"
+    hex "USB device ID" if USBSERIAL
 config USB_SERIAL_NUMBER_CHIPID
    bool "USB serial number from CHIPID" if HAVE_CHIPID
 config USB_SERIAL_NUMBER
    string "USB serial number" if !USB_SERIAL_NUMBER_CHIPID
 endmenu

+# Generic configuration options for CANbus
+config CANSERIAL
+    bool
+config CANBUS
+    bool
+    default y if CANSERIAL || USBCANBUS
+config CANBUS_FREQUENCY
+    int "CAN bus speed" if LOW_LEVEL_OPTIONS && CANBUS
+    default 500000
+config CANBUS_FILTER
+    bool
+    default y if CANSERIAL
+
+# Support setting gpio state at startup
 config INITIAL_PINS
    string "GPIO pins to set at micro-controller startup"
    depends on LOW_LEVEL_OPTIONS
--- a/src/Makefile
+++ b/src/Makefile
@ -9,5 +9,6 @@ src-$(CONFIG_HAVE_GPIO_I2C) += i2ccmds.c
 src-$(CONFIG_HAVE_GPIO_UART) += uartcmds.c
 src-$(CONFIG_HAVE_GPIO_HARD_PWM) += pwmcmds.c
 bb-src-$(CONFIG_HAVE_GPIO_SPI) := spi_software.c sensor_adxl345.c sensor_angle.c
+bb-src-$(CONFIG_HAVE_GPIO_I2C) += sensor_mpu9250.c
 src-$(CONFIG_HAVE_GPIO_BITBANGING) += $(bb-src-y) lcd_st7920.c lcd_hd44780.c \
    buttons.c tmcuart.c neopixel.c pulse_counter.c
--- a/Show More
+++ b/Show More