Update with latest "main" code.

config/generic-bigtreetech-octopus.cfg

@@ -1,6 +1,12 @@
-# This file contains common pin mappings for the BigTreeTech Octopus.
-# To use this config, the firmware should be compiled for the
-# STM32F446 with a "32KiB bootloader" and a "12MHz crystal" clock reference.
+# This file contains common pin mappings for the BigTreeTech Octopus
+# and Octopus Pro boards. To use this config, start by identifying the
+# micro-controller on the board - it may be an STM32F446, STM32F429,
+# or an STM32H723.  Select the appropriate micro-controller in "make
+# menuconfig" and select "Enable low-level configuration options". For
+# STM32F446 boards the firmware should be compiled with a "32KiB
+# bootloader" and a "12MHz crystal" clock reference. For STM32F429
+# boards use a "32KiB bootloader" and an "8MHz crystal". For STM32H723
+# boards use a "128KiB bootloader" and a "25Mhz crystal".
 
 # See docs/Config_Reference.md for a description of parameters.
 

config/printer-creality-ender3-s1-2021.cfg

@@ -129,3 +129,9 @@ runout_gcode: PAUSE
 
 [pause_resume]
 recover_velocity: 25
+
+[bed_screws]
+screw1: 20, 29
+screw2: 195, 29
+screw3: 195, 198
+screw4: 20, 198

docs/Config_Changes.md

@@ -8,6 +8,13 @@ All dates in this document are approximate.
 
 ## Changes
 
+20230103: It is now possible with the flash-sdcard.sh script to flash
+both variants of the Bigtreetech SKR-2, STM32F407 and STM32F429.
+This means that the original tag of btt-skr2 now has changed to either
+btt-skr-2-f407 or btt-skr-2-f429.
+
+20221128: Klipper v0.11.0 released.
+
 20221122: Previously, with safe_z_home, it was possible that the
 z_hop after the g28 homing would go in the negative z direction.
 Now, a z_hop is performed after g28 only if it results in a positive

docs/Config_Reference.md

@@ -1640,7 +1640,7 @@ cs_pin:
 
 ### [mpu9250]
 
-Support for MPU-9250, MPU-9255, MPU-9255, MPU-6050, and MPU-6500
+Support for MPU-9250, MPU-9255, MPU-6515, MPU-6050, and MPU-6500
 accelerometers (one may define any number of sections with an
 "mpu9250" prefix).
 
@@ -3073,6 +3073,30 @@ run_current:
 #   set, "stealthChop" mode will be enabled if the stepper motor
 #   velocity is below this value. The default is 0, which disables
 #   "stealthChop" mode.
+#driver_MSLUT0: 2863314260
+#driver_MSLUT1: 1251300522
+#driver_MSLUT2: 608774441
+#driver_MSLUT3: 269500962
+#driver_MSLUT4: 4227858431
+#driver_MSLUT5: 3048961917
+#driver_MSLUT6: 1227445590
+#driver_MSLUT7: 4211234
+#driver_W0: 2
+#driver_W1: 1
+#driver_W2: 1
+#driver_W3: 1
+#driver_X1: 128
+#driver_X2: 255
+#driver_X3: 255
+#driver_START_SIN: 0
+#driver_START_SIN90: 247
+#   These fields control the Microstep Table registers directly. The optimal
+#   wave table is specific to each motor and might vary with current. An
+#   optimal configuration will have minimal print artifacts caused by
+#   non-linear stepper movement. The values specified above are the default
+#   values used by the driver. The value must be specified as a decimal integer
+#   (hex form is not supported). In order to compute the wave table fields,
+#   see the tmc2130 "Calculation Sheet" from the Trinamic website.
 #driver_IHOLDDELAY: 8
 #driver_TPOWERDOWN: 0
 #driver_TBL: 1
@@ -3328,6 +3352,30 @@ run_current:
 #   set, "stealthChop" mode will be enabled if the stepper motor
 #   velocity is below this value. The default is 0, which disables
 #   "stealthChop" mode.
+#driver_MSLUT0: 2863314260
+#driver_MSLUT1: 1251300522
+#driver_MSLUT2: 608774441
+#driver_MSLUT3: 269500962
+#driver_MSLUT4: 4227858431
+#driver_MSLUT5: 3048961917
+#driver_MSLUT6: 1227445590
+#driver_MSLUT7: 4211234
+#driver_W0: 2
+#driver_W1: 1
+#driver_W2: 1
+#driver_W3: 1
+#driver_X1: 128
+#driver_X2: 255
+#driver_X3: 255
+#driver_START_SIN: 0
+#driver_START_SIN90: 247
+#   These fields control the Microstep Table registers directly. The optimal
+#   wave table is specific to each motor and might vary with current. An
+#   optimal configuration will have minimal print artifacts caused by
+#   non-linear stepper movement. The values specified above are the default
+#   values used by the driver. The value must be specified as a decimal integer
+#   (hex form is not supported). In order to compute the wave table fields,
+#   see the tmc2130 "Calculation Sheet" from the Trinamic website.
 #driver_IHOLDDELAY: 6
 #driver_TPOWERDOWN: 10
 #driver_TBL: 2

docs/Status_Reference.md

@@ -369,6 +369,28 @@ The following information is available in the `query_endstops` object
   the QUERY_ENDSTOP command must be run prior to the macro containing
   this reference.
 
+## screws_tilt_adjust
+
+The following information is available in the `screws_tilt_adjust`
+object:
+- `error`: Returns True if the most recent `SCREWS_TILT_CALCULATE`
+  command included the `MAX_DEVIATION` parameter and any of the probed
+  screw points exceeded the specified `MAX_DEVIATION`.
+- `results`: A list of the probed screw locations. Each entry in
+  the list will be a dictionary containing the following keys:
+  - `name`: The name of the screw as specified in the config file.
+  - `x`: The X coordinate of the screw as specified in the config file.
+  - `y`: The Y coordinate of the screw as specified in the config file.
+  - `z`: The measured Z height of the screw location.
+  - `sign`: A string specifying the direction to turn to screw for the
+    necessary adjustment. Either "CW" for clockwise or "CCW" for
+    counterclockwise. The base screw will not have a `sign` key.
+  - `adjust`: The number of screw turns to adjust the screw, given in
+    the format "HH:MM," where "HH" is the number of full screw turns
+    and "MM" is the number of "minutes of a clock face" representing
+    a partial screw turn. (E.g. "01:15" would mean to turn the screw
+    one and a quarter revolutions.)
+
 ## servo
 
 The following information is available in

klippy/chelper/serialqueue.c

@@ -356,6 +356,7 @@ kick_event(struct serialqueue *sq, double eventtime)
     pollreactor_update_timer(sq->pr, SQPT_COMMAND, PR_NOW);
 }
 
+// OS write of data to be sent to the mcu
 static void
 do_write(struct serialqueue *sq, void *buf, int buflen)
 {

klippy/console.py

@@ -5,7 +5,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import sys, optparse, os, re, logging
-import util, reactor, serialhdl, pins, msgproto, clocksync
+import util, reactor, serialhdl, msgproto, clocksync
 
 help_txt = """
   This is a debugging console for the Klipper micro-controller.
@@ -43,7 +43,6 @@ def __init__(self, reactor, serialport, baud, canbus_iface, canbus_nodeid):
         self.fd = sys.stdin.fileno()
         util.set_nonblock(self.fd)
         self.mcu_freq = 0
-        self.pins = pins.PinResolver(validate_aliases=False)
         self.data = ""
         reactor.register_fd(self.fd, self.process_kbd)
         reactor.register_callback(self.connect)
@@ -223,11 +222,7 @@ def translate(self, line, eventtime):
                 return None
             line = ''.join(evalparts)
             self.output("Eval: %s" % (line,))
-        try:
-            line = self.pins.update_command(line).strip()
-        except:
-            self.output("Unable to map pin: %s" % (line,))
-            return None
+        line = line.strip()
         if line:
             parts = line.split()
             if parts[0] in self.local_commands:

klippy/extras/bed_mesh.py

@@ -315,7 +315,7 @@ def _generate_points(self, error):
         # floor distances down to next hundredth
         x_dist = math.floor(x_dist * 100) / 100
         y_dist = math.floor(y_dist * 100) / 100
-        if x_dist <= 1. or y_dist <= 1.:
+        if x_dist < 1. or y_dist < 1.:
             raise error("bed_mesh: min/max points too close together")
 
         if self.radius is not None:

klippy/extras/manual_probe.py

@@ -13,9 +13,25 @@ def __init__(self, config):
         self.gcode_move = self.printer.load_object(config, "gcode_move")
         self.gcode.register_command('MANUAL_PROBE', self.cmd_MANUAL_PROBE,
                                     desc=self.cmd_MANUAL_PROBE_help)
+        # Endstop value for cartesian printers with separate Z axis
         zconfig = config.getsection('stepper_z')
         self.z_position_endstop = zconfig.getfloat('position_endstop', None,
                                                    note_valid=False)
+        # Endstop values for linear delta printers with vertical A,B,C towers
+        a_tower_config = config.getsection('stepper_a')
+        self.a_position_endstop = a_tower_config.getfloat('position_endstop',
+                                                          None,
+                                                          note_valid=False)
+        b_tower_config = config.getsection('stepper_b')
+        self.b_position_endstop = b_tower_config.getfloat('position_endstop',
+                                                          None,
+                                                          note_valid=False)
+        c_tower_config = config.getsection('stepper_c')
+        self.c_position_endstop = c_tower_config.getfloat('position_endstop',
+                                                          None,
+                                                          note_valid=False)
+        # Conditionally register appropriate commands depending on printer
+        # Cartestian printers with separate Z Axis
         if self.z_position_endstop is not None:
             self.gcode.register_command(
                 'Z_ENDSTOP_CALIBRATE', self.cmd_Z_ENDSTOP_CALIBRATE,
@@ -24,6 +40,12 @@ def __init__(self, config):
                 'Z_OFFSET_APPLY_ENDSTOP',
                 self.cmd_Z_OFFSET_APPLY_ENDSTOP,
                 desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help)
+        # Linear delta printers with A,B,C towers
+        if 'delta' == config.getsection('printer').get('kinematics'):
+            self.gcode.register_command(
+                'Z_OFFSET_APPLY_ENDSTOP',
+                self.cmd_Z_OFFSET_APPLY_DELTA_ENDSTOPS,
+                desc=self.cmd_Z_OFFSET_APPLY_ENDSTOP_help)
         self.reset_status()
     def manual_probe_finalize(self, kin_pos):
         if kin_pos is not None:
@@ -66,6 +88,29 @@ def cmd_Z_OFFSET_APPLY_ENDSTOP(self,gcmd):
                 "with the above and restart the printer." % (new_calibrate))
             configfile.set('stepper_z', 'position_endstop',
                 "%.3f" % (new_calibrate,))
+    def cmd_Z_OFFSET_APPLY_DELTA_ENDSTOPS(self,gcmd):
+        offset = self.gcode_move.get_status()['homing_origin'].z
+        configfile = self.printer.lookup_object('configfile')
+        if offset == 0:
+            self.gcode.respond_info("Nothing to do: Z Offset is 0")
+        else:
+            new_a_calibrate = self.a_position_endstop - offset
+            new_b_calibrate = self.b_position_endstop - offset
+            new_c_calibrate = self.c_position_endstop - offset
+            self.gcode.respond_info(
+                "stepper_a: position_endstop: %.3f\n"
+                "stepper_b: position_endstop: %.3f\n"
+                "stepper_c: position_endstop: %.3f\n"
+                "The SAVE_CONFIG command will update the printer config file\n"
+                "with the above and restart the printer." % (new_a_calibrate,
+                                                             new_b_calibrate,
+                                                             new_c_calibrate))
+            configfile.set('stepper_a', 'position_endstop',
+                "%.3f" % (new_a_calibrate,))
+            configfile.set('stepper_b', 'position_endstop',
+                "%.3f" % (new_b_calibrate,))
+            configfile.set('stepper_c', 'position_endstop',
+                "%.3f" % (new_c_calibrate,))
     cmd_Z_OFFSET_APPLY_ENDSTOP_help = "Adjust the z endstop_position"
 
 # Verify that a manual probe isn't already in progress

klippy/extras/palette2.py

@@ -221,9 +221,9 @@ def cmd_OmegaDefault(self, gcmd):
     def _wait_for_heartbeat(self):
         startTs = self.reactor.monotonic()
         currTs = startTs
-        while self.heartbeat is None and self.heartbeat < (
-                currTs - SETUP_TIMEOUT) and startTs > (
-                currTs - SETUP_TIMEOUT):
+        while self.heartbeat is None or (self.heartbeat < (
+            currTs - SETUP_TIMEOUT) and startTs > (
+                currTs - SETUP_TIMEOUT)):
             currTs = self.reactor.pause(currTs + 1.)
 
         if self.heartbeat < (currTs - SETUP_TIMEOUT):
@@ -401,7 +401,7 @@ def p2cmd_O50(self, params):
             try:
                 fw = params[0][1:]
                 logging.info(
-                    "Palette 2 firmware version %s detected" % os.fwalk)
+                    "Palette 2 firmware version %s detected" % fw)
             except (TypeError, IndexError):
                 logging.error("Unable to parse firmware version")
 
@@ -583,7 +583,7 @@ def _run_Heartbeat(self, eventtime):
         self.write_queue.put(COMMAND_HEARTBEAT)
         eventtime = self.reactor.pause(eventtime + 5)
         if self.heartbeat and self.heartbeat < (
-                eventtime - HEARTBEAT_TIMEOUT):
+            eventtime - HEARTBEAT_TIMEOUT):
             logging.error(
                 "P2 has not responded to heartbeat")
             if not self.is_printing or self.is_setup_complete:
@@ -612,6 +612,7 @@ def _run_Write(self, eventtime):
                     logging.error("Unable to communicate with the Palette 2")
                     self.signal_disconnect = True
                     return self.reactor.NEVER
+                return eventtime + SERIAL_TIMER
         return eventtime + SERIAL_TIMER
 
     def _run_Smart_Load(self, eventtime):

klippy/extras/screws_tilt_adjust.py

@@ -12,7 +12,9 @@ def __init__(self, config):
         self.config = config
         self.printer = config.get_printer()
         self.screws = []
+        self.results = []
         self.max_diff = None
+        self.max_diff_error = False
         # Read config
         for i in range(99):
             prefix = "screw%d" % (i + 1,)
@@ -57,7 +59,13 @@ def cmd_SCREWS_TILT_CALCULATE(self, gcmd):
         self.direction = direction
         self.probe_helper.start_probe(gcmd)
 
+    def get_status(self, eventtime):
+        return {'error': self.max_diff_error,
+            'results': self.results}
+
     def probe_finalize(self, offsets, positions):
+        self.results = []
+        self.max_diff_error = False
         # Factors used for CW-M3, CCW-M3, CW-M4, CCW-M4, CW-M5 and CCW-M5
         threads_factor = {0: 0.5, 1: 0.5, 2: 0.7, 3: 0.7, 4: 0.8, 5: 0.8}
         is_clockwise_thread = (self.thread & 1) == 0
@@ -84,6 +92,8 @@ def probe_finalize(self, offsets, positions):
                 self.gcode.respond_info(
                     "%s : x=%.1f, y=%.1f, z=%.5f" %
                     (name + ' (base)', coord[0], coord[1], z))
+                self.results.append({'name': name + ' (base)', 'x': coord[0],
+                    'y': coord[1], 'z': z, 'sign': 'CW', 'adjust':'00:00'})
             else:
                 # Calculate how knob must be adjusted for other positions
                 diff = z_base - z
@@ -104,7 +114,11 @@ def probe_finalize(self, offsets, positions):
                 self.gcode.respond_info(
                     "%s : x=%.1f, y=%.1f, z=%.5f : adjust %s %02d:%02d" %
                     (name, coord[0], coord[1], z, sign, full_turns, minutes))
+                self.results.append({'name': name, 'x': coord[0], 'y': coord[1],
+                    'z': z, 'sign': sign,
+                    'adjust':"%02d:%02d" % (full_turns, minutes)})
         if self.max_diff and any((d > self.max_diff) for d in screw_diff):
+            self.max_diff_error = True
             raise self.gcode.error(
                 "bed level exceeds configured limits ({}mm)! " \
                 "Adjust screws and restart print.".format(self.max_diff))

klippy/extras/tmc.py

@@ -501,6 +501,27 @@ def handle_homing_move_end(self, hmove):
 # Config reading helpers
 ######################################################################
 
+# Helper to initialize the wave table from config or defaults
+def TMCWaveTableHelper(config, mcu_tmc):
+    set_config_field = mcu_tmc.get_fields().set_config_field
+    set_config_field(config, "mslut0", 0xAAAAB554)
+    set_config_field(config, "mslut1", 0x4A9554AA)
+    set_config_field(config, "mslut2", 0x24492929)
+    set_config_field(config, "mslut3", 0x10104222)
+    set_config_field(config, "mslut4", 0xFBFFFFFF)
+    set_config_field(config, "mslut5", 0xB5BB777D)
+    set_config_field(config, "mslut6", 0x49295556)
+    set_config_field(config, "mslut7", 0x00404222)
+    set_config_field(config, "w0", 2)
+    set_config_field(config, "w1", 1)
+    set_config_field(config, "w2", 1)
+    set_config_field(config, "w3", 1)
+    set_config_field(config, "x1", 128)
+    set_config_field(config, "x2", 255)
+    set_config_field(config, "x3", 255)
+    set_config_field(config, "start_sin", 0)
+    set_config_field(config, "start_sin90", 247)
+
 # Helper to configure and query the microstep settings
 def TMCMicrostepHelper(config, mcu_tmc):
     fields = mcu_tmc.get_fields()