History of Klipper releases. Please see installation for information on installing Klipper.

Klipper 0.7.0

Available on 20181220. Major changes in this release:

Klipper now supports "mesh" bed leveling
New support for "enhanced" delta calibration (calibrates print x/y dimensions on delta printers)
Support for run-time configuration of Trinamic stepper motor drivers (tmc2130, tmc2208, tmc2660)
Improved temperature sensor support: MAX6675, MAX31855, MAX31856, MAX31865, custom thermistors, common pt100 style sensors
Several new modules: temperature_fan, sx1509, force_move, mcp4451, z_tilt, quad_gantry_level, endstop_phase, bltouch
Several new commands added: SAVE_CONFIG, SET_PRESSURE_ADVANCE, SET_GCODE_OFFSET, SET_VELOCITY_LIMIT, STEPPER_BUZZ, TURN_OFF_HEATERS, M204, custom g-code macros
Expanded LCD display support:
- Support for run-time menus
- New display icons
- Support for "uc1701" and "ssd1306" displays
Additional micro-controller support:
- Klipper ported to: LPC176x (Smoothieboards), SAM4E8E (Duet2), SAMD21 (Arduino Zero), STM32F103 ("Blue pill" devices), atmega32u4
- New Generic USB CDC driver implemented on AVR, LPC176x, SAMD21, and STM32F103
- Performance improvements on ARM processors
The kinematics code was rewritten to use an "iterative solver"
New automatic test cases for the Klipper host software
Many new example config files for common off-the-shelf printers
Documentation updates for bootloaders, benchmarking, micro-controller porting, config checks, pin mapping, slicer settings, packaging, and more
Several bug fixes and code cleanups

Klipper 0.6.0

Available on 20180331. Major changes in this release:

Enhanced heater and thermistor hardware failure checks
Support for Z probes
Initial support for automatic parameter calibration on deltas (via a new delta_calibrate command)
Initial support for bed tilt compensation (via bed_tilt_calibrate command)
Initial support for "safe homing" and homing overrides
Initial support for displaying status on RepRapDiscount style 2004 and 12864 displays
New multi-extruder improvements:
- Support for shared heaters
- Initial support for dual carriages
Support for configuring multiple steppers per axis (eg, dual Z)
Support for custom digital and pwm output pins (with a new SET_PIN command)
Initial support for a "virtual sdcard" that allows printing directly from Klipper (helps on machines too slow to run OctoPrint well)
Support for setting different arm lengths on each tower of a delta
Support for G-Code M220/M221 commands (speed factor override / extrude factor override)
Several documentation updates:
- Many new example config files for common off-the-shelf printers
- New multiple MCU config example
- New bltouch sensor config example
- New FAQ, config check, and G-Code documents
Initial support for continuous integration testing on all github commits
Several bug fixes and code cleanups

Available on 20171025. Major changes in this release:

Support for printers with multiple extruders.
Initial support for running on the Beaglebone PRU. Initial support for the Replicape board.
Initial support for running the micro-controller code in a real-time Linux process.
Support for multiple micro-controllers. (For example, one could control an extruder with one micro-controller and the rest of the printer with another.) Software clock synchronization is implemented to coordinate actions between micro-controllers.
Stepper performance improvements (20Mhz AVRs up to 189K steps per second).
Support for controlling servos and support for defining nozzle cooling fans.
Several bug fixes and code cleanups

Available on 20170503. Major changes in this release:

Improved installation on Raspberry Pi machines. Most of the install is now scripted.
Support for corexy kinematics
Documentation updates: New Kinematics document, new Pressure Advance tuning guide, new example config files, and more
Stepper performance improvements (20Mhz AVRs over 175K steps per second, Arduino Due over 460K)
Support for automatic micro-controller resets. Support for resets via toggling USB power on Raspberry Pi.
The pressure advance algorithm now works with look-ahead to reduce pressure changes during cornering.
Support for limiting the top speed of short zigzag moves
Support for AD595 sensors
Several bug fixes and code cleanups

Available on 20161223. Major changes in this release:

Improved documentation
Support for robots with delta kinematics
Support for Arduino Due micro-controller (ARM cortex-M3)
Support for USB based AVR micro-controllers
Support for "pressure advance" algorithm - it reduces ooze during prints.
New "stepper phased based endstop" feature - enables higher precision on endstop homing.
Support for "extended g-code" commands such as "help", "restart", and "status".
Support for reloading the Klipper config and restarting the host software by issuing a "restart" command from the terminal.
Stepper performance improvements (20Mhz AVRs up to 158K steps per second).
Improved error reporting. Most errors now shown via the terminal along with help on how to resolve.
Several bug fixes and code cleanups

Initial release of Klipper. Available on 20160525. Major features available in the initial release include:

Basic support for cartesian printers (steppers, extruder, heated bed, cooling fan).
Support for common g-code commands. Support for interfacing with OctoPrint.
Acceleration and lookahead handling
Support for AVR micro-controllers via standard serial ports