14 KiB
The Klipper transmission protocol can be thought of, at a high level, as a series of command and response strings that are compressed, transmitted over a serial line, and then processed at the receiving side. An example series of commands in uncompressed human-readable format might look like:
set_digital_out pin=86 value=1
set_digital_out pin=85 value=1
schedule_digital_out oid=8 clock=4000000 value=0
queue_step oid=7 interval=7458 count=10 add=331
queue_step oid=7 interval=11717 count=4 add=1281
See the firmware commands document for information on available commands. See the debugging document for information on how to translate a G-Code file into its corresponding human-readable firmware commands.
This page provides a high-level description of the Klipper transmission protocol itself. It describes how messages are declared, encoded in binary format (the "compression" scheme), and transmitted.
The goal of the protocol is to enable an error-free communication channel between the host and firmware that is low-latency, low-bandwidth, and low-complexity for the firmware.
Firmware Interface
The Klipper transmission protocol can be thought of as a RPC mechanism between firmware and host. The firmware declares the commands that the host may invoke along with the response messages that it can generate. The host uses that information to command the firmware to perform actions and to interpret the results.
Declaring commands
The firmware declares a "command" by using the DECL_COMMAND() macro in the C code. For example:
DECL_COMMAND(command_set_digital_out, "set_digital_out pin=%u value=%c");
The above declares a command named "set_digital_out". This allows the host to "invoke" this command which would cause the command_set_digital_out() C function to be executed in the firmware. The above also indicates that the command takes two integer parameters. When the command_set_digital_out() C code is executed, it will be passed an array containing these two integers - the first corresponding to the 'pin' and the second corresponding to the 'value'.
In general, the parameters are described with printf() style syntax (eg, "%u"). The formatting directly corresponds to the human-readable view of commands (eg, "set_digital_out pin=86 value=1"). In the above example, "value=" is a parameter name and "%c" indicates the parameter is an integer. Internally, the parameter name is only used as documentation. In this example, the "%c" is also used as documentation to indicate the expected integer is 1 byte in size (the declared integer size does not impact the parsing or encoding).
At firmware compile time, the build will collect all commands declared with DECL_COMMAND(), determine their parameters, and arrange for them to be callable.
Declaring responses
To send information from the firmware to the host a "response" is generated. These are both declared and transmitted using the sendf() C macro. For example:
sendf("status clock=%u status=%c", sched_read_time(), sched_is_shutdown());
The above transmits a "status" response message that contains two integer parameters ("clock" and "status"). At firmware compile time the build automatically finds all sendf() calls and generates encoders for them. The first parameter of the sendf() function describes the response and it is in the same format as command declarations.
The host can arrange to register a callback function for each response. So, in effect, commands allow the host to invoke C functions in the firmware and responses allow the firmware to invoke code in the host.
The firmware should only invoke sendf() from command or task handlers, and it should not be invoked from interrupts or timers. The firmware does not need to issue a sendf() in response to a received command, it is not limited in the number of times sendf() may be invoked, and it may invoke sendf() at any time from a task handler.
Output responses
To simplify debugging, the firmware also has an output() C function. For example:
output("The value of %u is %s with size %u.", x, buf, buf_len);
The output() function is similar in usage to printf() - it is intended to generate and format arbitrary messages for human consumption. It is a wrapper around sendf() and as with sendf() it should not be called from interrupts or timers.
Declaring constants
The firmware can also define constants to be exported. For example, the following:
DECL_CONSTANT(SERIAL_BAUD, 250000);
would export a constant named "SERIAL_BAUD" with a value of 250000 from the firmware to the host.
Low-level message encoding
To accomplish the above RPC mechanism, each command and response is encoded into a binary format for transmission. This section describes the transmission system.
Message Blocks
All data sent from host to firmware and vice-versa are contained in "message blocks". A message block has a two byte header and a three byte trailer. The format of a message block is:
<1 byte length><1 byte sequence><n-byte content><2 byte crc><1 byte sync>
The length byte contains the number of bytes in the message block including the header and trailer bytes (thus the minimum message length is 5 bytes). The maximum message block length is currently 64 bytes. The sequence byte contains a 4 bit sequence number in the low-order bits and the high-order bits always contain 0x10 (the high-order bits are reserved for future use). The content bytes contain arbitrary data and its format is described in the following section. The crc bytes contain a 16bit CCITT CRC of the message block including the header bytes but excluding the trailer bytes. The sync byte is 0x7e.
The format of the message block is inspired by HDLC message frames. Like in HDLC, the message block may optionally contain an additional sync character at the start of the block. Unlike in HDLC, a sync character is not exclusive to the framing and may be present in the message block content.
Message Block Contents
Each message block sent from host to firmware contains a series of zero or more message commands in its contents. Each command starts with a Variable Length Quantity (VLQ) encoded integer command-id followed by zero or more VLQ parameters for the given command.
As an example, the following four commands might be placed in a single message block:
set_digital_out pin=86 value=1
set_digital_out pin=85 value=0
get_config
get_status
and encoded into the following eight VLQ integers:
<id_set_digital_out><86><1><id_set_digital_out><85><0><id_get_config><id_get_status>
In order to encode and parse the message contents, both the host and firmware must agree on the command ids and the number of parameters each command has. So, in the above example, both the host and firmware would know that "id_set_digital_out" is always followed by two parameters, and "id_get_config" and "id_get_status" have zero parameters. The host and firmware share a "data dictionary" that maps the command descriptions (eg, "set_digital_out pin=%u value=%c") to their integer command-ids. When processing the data, the parser will know to expect a specific number of VLQ encoded parameters following a given command id.
The message contents for blocks sent from firmware to host follow the same format. The identifiers in these messages are "response ids", but they serve the same purpose and follow the same encoding rules. In practice, message blocks sent from the firmware to the host never contain more than one response in the message block contents.
Variable Length Quantities
See the wikipedia article for more information on the general format of VLQ encoded integers. Klipper uses an encoding scheme that supports both positive and negative integers. Integers close to zero use less bytes to encode and positive integers typically encode using less bytes than negative integers. The following table shows the number of bytes each integer takes to encode:
| Integer | Encoded size |
|---|---|
| -32 .. 95 | 1 |
| -4096 .. 12287 | 2 |
| -524288 .. 1572863 | 3 |
| -67108864 .. 201326591 | 4 |
| -2147483648 .. 4294967295 | 5 |
Variable length strings
As an exception to the above encoding rules, if a parameter to a command or response is a dynamic string then the parameter is not encoded as a simple VLQ integer. Instead it is encoded by transmitting the length as a VLQ encoded integer followed by the contents itself:
<VLQ encoded length><n-byte contents>
The command descriptions found in the data dictionary allow both the host and firmware to know which command parameters use simple VLQ encoding and which parameters use string encoding.
Data Dictionary
In order for meaningful communications to be established between firmware and host, both sides must agree on a "data dictionary". This data dictionary contains the integer identifiers for commands and responses along with their descriptions.
At compile time the firmware build uses the contents of DECL_COMMAND() and sendf() macros to generate the data dictionary. The build automatically assigns unique identifiers to each command and response. This system allows both the host and firmware code to seamlessly use descriptive human-readable names while still using minimal bandwidth.
The host queries the data dictionary when it first connects to the firmware. Once the host downloads the data dictionary from the firmware, it uses that data dictionary to encode all commands and to parse all responses from the firmware. The host must therefore handle a dynamic data dictionary. However, to keep the firmware simple, the firmware always uses its static (compiled in) data dictionary.
The data dictionary is queried by sending "identify" commands to the firmware. The firmware will respond to each identify command with an "identify_response" message. Since these two commands are needed prior to obtaining the data dictionary, their integer ids and parameter types are hard-coded in both the firmware and the host. The "identify_response" response id is 0, the "identify" command id is 1. Other than having hard-coded ids the identify command and its response are declared and transmitted the same way as other commands and responses. No other command or response is hard-coded.
The format of the transmitted data dictionary itself is a zlib compressed JSON string. The firmware compile process generates the string, compresses it, and stores it in the text section of the firmware. The data dictionary can be much larger than the maximum message block size - the host downloads it by sending multiple identify commands requesting progressive chunks of the data dictionary. Once all chunks are obtained the host will assemble the chunks, uncompress the data, and parse the contents.
In addition to information on the communication protocol, the data dictionary also contains firmware version, constants (as defined by DECL_CONSTANT), and static strings.
Static Strings
To reduce bandwidth the data dictionary also contains a set of static strings known to the firmware. This is useful when sending messages from firmware to host. For example, if the firmware were to run:
shutdown("Unable to handle command");
The error message would be encoded and sent using a single VLQ. The host uses the data dictionary to resolve VLQ encoded static string ids to their associated human-readable strings.
Message flow
Message commands sent from host to firmware are intended to be error-free. The firmware will check the CRC and sequence numbers in each message block to ensure the commands are accurate and in-order. The firmware always processes message blocks in-order - should it receive a block out-of-order it will discard it and any other out-of-order blocks until it receives blocks with the correct sequencing.
The low-level host code implements an automatic retransmission system for lost and corrupt message blocks sent to the firmware. To facilitate this, the firmware transmits an "ack message block" after each successfully received message block. The host schedules a timeout after sending each block and it will retransmit should the timeout expire without receiving a corresponding "ack". In addition, if the firmware detects a corrupt or out-of-order block it may transmit a "nak message block" to facilitate fast retransmission.
An "ack" is a message block with empty content (ie, a 5 byte message block) and a sequence number greater than the last received host sequence number. A "nak" is a message block with empty content and a sequence number less than the last received host sequence number.
The protocol facilitates a "window" transmission system so that the host can have many outstanding message blocks in-flight at a time. (This is in addition to the many commands that may be present in a given message block.) This allows maximum bandwidth utilization even in the event of transmission latency. The timeout, retransmit, windowing, and ack mechanism are inspired by similar mechanisms in TCP.
In the other direction, message blocks sent from firmware to host are designed to be error-free, but they do not have assured transmission. (Responses should not be corrupt, but they may go missing.) This is done to keep the implementation in the firmware simple. There is no automatic retransmission system for responses - the high-level code is expected to be capable of handling an occasional missing response (usually by re-requesting the content or setting up a recurring schedule of response transmission). The sequence number field in message blocks sent to the host is always one greater than the last received sequence number of message blocks received from the host. It is not used to track sequences of response message blocks.