Merge branch 'Klipper3d:master' into master

docs/Config_Reference.md

@@ -4944,8 +4944,8 @@ detection_length: 7.0
 #   a state change on the switch_pin
 #   Default is 7 mm.
 extruder:
-#   The name of the extruder section this sensor is associated with.
+#   The name of the extruder or extruder_stepper section this sensor
-#   This parameter must be provided.
+#   is associated with. This parameter must be provided.
 switch_pin:
 #pause_on_runout:
 #runout_gcode:

docs/FAQ.md

@@ -98,17 +98,16 @@ bootloaders.
 
 ## Can I run Klipper on something other than a Raspberry Pi 3?
 
-The recommended hardware is a Raspberry Pi 2, Raspberry Pi 3, or
+The recommended hardware is a Raspberry Pi Zero2w, Raspberry Pi 3,
-Raspberry Pi 4.
+Raspberry Pi 4 or Raspberry Pi 5. Klipper will also run on other SBC
+devices as well as x86 hardware, as described below.
 
-Klipper will run on a Raspberry Pi 1 and on the Raspberry Pi Zero, but
+Klipper will run on a Raspberry Pi 1, 2 and on the Raspberry Pi Zero1,
-these boards don't have enough processing power to run OctoPrint
+but these boards don't have enough processing power to run Klipper
 well. It is common for print stalls to occur on these slower machines
-when printing directly from OctoPrint. (The printer may move faster
+when printing (The printer may move faster than Klipper can send
-than OctoPrint can send movement commands.) If you wish to run on one
+movement commands.) It is not reccomended to run Kliper on these older
-one of these slower boards anyway, consider using the "virtual_sdcard"
+machines.
-feature when printing (see
-[config reference](Config_Reference.md#virtual_sdcard) for details).
 
 For running on the Beaglebone, see the
 [Beaglebone specific installation instructions](Beaglebone.md).

klippy/chelper/__init__.py

@@ -56,6 +56,8 @@ defs_stepcompress = """
         , uint64_t start_clock, uint64_t end_clock);
     void stepcompress_set_stepper_kinematics(struct stepcompress *sc
         , struct stepper_kinematics *sk);
+    struct stepper_kinematics *stepcompress_get_stepper_kinematics(
+        struct stepcompress *sc);
 """
 
 defs_steppersync = """
@@ -76,11 +78,14 @@ defs_itersolve = """
     int32_t itersolve_is_active_axis(struct stepper_kinematics *sk, char axis);
     void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq
         , double step_dist);
+    struct trapq *itersolve_get_trapq(struct stepper_kinematics *sk);
     double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
         , double x, double y, double z);
     void itersolve_set_position(struct stepper_kinematics *sk
         , double x, double y, double z);
     double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
+    double itersolve_get_gen_steps_pre_active(struct stepper_kinematics *sk);
+    double itersolve_get_gen_steps_post_active(struct stepper_kinematics *sk);
 """
 
 defs_trapq = """
@@ -157,8 +162,6 @@ defs_kin_extruder = """
 """
 
 defs_kin_shaper = """
-    double input_shaper_get_step_generation_window(
-        struct stepper_kinematics *sk);
     int input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
         , int n, double a[], double t[]);
     int input_shaper_set_sk(struct stepper_kinematics *sk
@@ -274,6 +277,28 @@ def do_build_code(cmd):
         logging.error(msg)
         raise Exception(msg)
 
+# Build the main c_helper.so c code library
+def check_build_c_library():
+    srcdir = os.path.dirname(os.path.realpath(__file__))
+    srcfiles = get_abs_files(srcdir, SOURCE_FILES)
+    ofiles = get_abs_files(srcdir, OTHER_FILES)
+    destlib = get_abs_files(srcdir, [DEST_LIB])[0]
+    if not check_build_code(srcfiles+ofiles+[__file__], destlib):
+        # Code already built
+        return destlib
+    # Select command line options
+    if check_gcc_option(SSE_FLAGS):
+        cmd = "%s %s %s" % (GCC_CMD, SSE_FLAGS, COMPILE_ARGS)
+    else:
+        cmd = "%s %s" % (GCC_CMD, COMPILE_ARGS)
+    # Invoke compiler
+    logging.info("Building C code module %s", DEST_LIB)
+    tempdestlib = get_abs_files(srcdir, ["_temp_" + DEST_LIB])[0]
+    do_build_code(cmd % (tempdestlib, ' '.join(srcfiles)))
+    # Rename from temporary file to final file name
+    os.rename(tempdestlib, destlib)
+    return destlib
+
 FFI_main = None
 FFI_lib = None
 pyhelper_logging_callback = None
@@ -286,17 +311,9 @@ def logging_callback(msg):
 def get_ffi():
     global FFI_main, FFI_lib, pyhelper_logging_callback
     if FFI_lib is None:
-        srcdir = os.path.dirname(os.path.realpath(__file__))
+        # Check if library needs to be built, and build if so
-        srcfiles = get_abs_files(srcdir, SOURCE_FILES)
+        destlib = check_build_c_library()
-        ofiles = get_abs_files(srcdir, OTHER_FILES)
+        # Open library
-        destlib = get_abs_files(srcdir, [DEST_LIB])[0]
-        if check_build_code(srcfiles+ofiles+[__file__], destlib):
-            if check_gcc_option(SSE_FLAGS):
-                cmd = "%s %s %s" % (GCC_CMD, SSE_FLAGS, COMPILE_ARGS)
-            else:
-                cmd = "%s %s" % (GCC_CMD, COMPILE_ARGS)
-            logging.info("Building C code module %s", DEST_LIB)
-            do_build_code(cmd % (destlib, ' '.join(srcfiles)))
         FFI_main = cffi.FFI()
         for d in defs_all:
             FFI_main.cdef(d)

klippy/chelper/itersolve.c

@@ -248,6 +248,12 @@ itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq
     sk->step_dist = step_dist;
 }
 
+struct trapq * __visible
+itersolve_get_trapq(struct stepper_kinematics *sk)
+{
+    return sk->tq;
+}
+
 double __visible
 itersolve_calc_position_from_coord(struct stepper_kinematics *sk
                                    , double x, double y, double z)
@@ -273,3 +279,15 @@ itersolve_get_commanded_pos(struct stepper_kinematics *sk)
 {
     return sk->commanded_pos;
 }
+
+double __visible
+itersolve_get_gen_steps_pre_active(struct stepper_kinematics *sk)
+{
+    return sk->gen_steps_pre_active;
+}
+
+double __visible
+itersolve_get_gen_steps_post_active(struct stepper_kinematics *sk)
+{
+    return sk->gen_steps_post_active;
+}

klippy/chelper/itersolve.h

@@ -31,10 +31,13 @@ double itersolve_check_active(struct stepper_kinematics *sk, double flush_time);
 int32_t itersolve_is_active_axis(struct stepper_kinematics *sk, char axis);
 void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq
                          , double step_dist);
+struct trapq *itersolve_get_trapq(struct stepper_kinematics *sk);
 double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
                                           , double x, double y, double z);
 void itersolve_set_position(struct stepper_kinematics *sk
                             , double x, double y, double z);
 double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
+double itersolve_get_gen_steps_pre_active(struct stepper_kinematics *sk);
+double itersolve_get_gen_steps_post_active(struct stepper_kinematics *sk);
 
 #endif // itersolve.h

klippy/chelper/kin_shaper.c

@@ -239,14 +239,6 @@ input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
     return status;
 }
 
-double __visible
-input_shaper_get_step_generation_window(struct stepper_kinematics *sk)
-{
-    struct input_shaper *is = container_of(sk, struct input_shaper, sk);
-    return is->sk.gen_steps_pre_active > is->sk.gen_steps_post_active
-         ? is->sk.gen_steps_pre_active : is->sk.gen_steps_post_active;
-}
-
 struct stepper_kinematics * __visible
 input_shaper_alloc(void)
 {

klippy/chelper/pyhelper.c

@@ -10,7 +10,6 @@
 #include <stdio.h> // fprintf
 #include <string.h> // strerror
 #include <time.h> // struct timespec
-#include <linux/prctl.h>  // PR_SET_NAME
 #include <sys/prctl.h>  // prctl
 #include "compiler.h" // __visible
 #include "pyhelper.h" // get_monotonic

klippy/chelper/stepcompress.c

@@ -674,6 +674,13 @@ stepcompress_set_stepper_kinematics(struct stepcompress *sc
     sc->sk = sk;
 }
 
+// Report current stepper_kinematics
+struct stepper_kinematics * __visible
+stepcompress_get_stepper_kinematics(struct stepcompress *sc)
+{
+    return sc->sk;
+}
+
 // Generate steps (via itersolve) and flush
 int32_t
 stepcompress_generate_steps(struct stepcompress *sc, double gen_steps_time

klippy/chelper/stepcompress.h

@@ -41,6 +41,8 @@ int stepcompress_extract_old(struct stepcompress *sc
 struct stepper_kinematics;
 void stepcompress_set_stepper_kinematics(struct stepcompress *sc
                                          , struct stepper_kinematics *sk);
+struct stepper_kinematics *stepcompress_get_stepper_kinematics(
+    struct stepcompress *sc);
 int32_t stepcompress_generate_steps(struct stepcompress *sc
                                     , double gen_steps_time
                                     , uint64_t flush_clock);

klippy/extras/bme280.py

@@ -284,7 +284,7 @@ class BME280:
                 self.chip_type, self.i2c.i2c_address))
 
         # Reset chip
-        self.write_register('RESET', [RESET_CHIP_VALUE], wait=True)
+        self.write_register('RESET', [RESET_CHIP_VALUE])
         self.reactor.pause(self.reactor.monotonic() + .5)
 
         # Make sure non-volatile memory has been copied to registers
@@ -394,7 +394,7 @@ class BME280:
                 self.write_register('CTRL_HUM', self.os_hum)
             # Enter normal (periodic) mode
             meas = self.os_temp << 5 | self.os_pres << 2 | MODE_PERIODIC
-            self.write_register('CTRL_MEAS', meas, wait=True)
+            self.write_register('CTRL_MEAS', meas)
 
         if self.chip_type == 'BME680':
             self.write_register('CONFIG', self.iir_filter << 2)
@@ -528,7 +528,7 @@ class BME280:
 
         # Enter forced mode
         meas = self.os_temp << 5 | self.os_pres << 2 | MODE
-        self.write_register('CTRL_MEAS', meas, wait=True)
+        self.write_register('CTRL_MEAS', meas)
         max_sample_time = self.max_sample_time
         if run_gas:
             max_sample_time += self.gas_heat_duration / 1000
@@ -776,15 +776,12 @@ class BME280:
         params = self.i2c.i2c_read(regs, read_len)
         return bytearray(params['response'])
 
-    def write_register(self, reg_name, data, wait = False):
+    def write_register(self, reg_name, data):
         if type(data) is not list:
             data = [data]
         reg = self.chip_registers[reg_name]
         data.insert(0, reg)
-        if not wait:
         self.i2c.i2c_write(data)
-        else:
-            self.i2c.i2c_write_wait_ack(data)
 
     def get_status(self, eventtime):
         data = {

klippy/extras/bus.py

@@ -180,6 +180,13 @@ class MCU_I2C:
         self.cmd_queue = self.mcu.alloc_command_queue()
         self.mcu.register_config_callback(self.build_config)
         self.i2c_write_cmd = self.i2c_read_cmd = None
+        printer = self.mcu.get_printer()
+        printer.register_event_handler("klippy:connect", self._handle_connect)
+        # backward support i2c_write inside the init section
+        self._to_write = []
+    def _handle_connect(self):
+        for data in self._to_write:
+            self.i2c_write(data)
     def get_oid(self):
         return self.oid
     def get_mcu(self):
@@ -207,14 +214,8 @@ class MCU_I2C:
             cq=self.cmd_queue)
     def i2c_write(self, data, minclock=0, reqclock=0):
         if self.i2c_write_cmd is None:
-            # Send setup message via mcu initialization
+            self._to_write.append(data)
-            data_msg = "".join(["%02x" % (x,) for x in data])
-            self.mcu.add_config_cmd("i2c_write oid=%d data=%s" % (
-                self.oid, data_msg), is_init=True)
             return
-        self.i2c_write_cmd.send([self.oid, data],
-                                minclock=minclock, reqclock=reqclock)
-    def i2c_write_wait_ack(self, data, minclock=0, reqclock=0):
         self.i2c_write_cmd.send_wait_ack([self.oid, data],
                                          minclock=minclock, reqclock=reqclock)
     def i2c_read(self, write, read_len, retry=True):

klippy/extras/display/display.py

@@ -236,6 +236,8 @@ class PrinterLCD:
         except:
             logging.exception("Error during display screen update")
         self.lcd_chip.flush()
+        if self.redraw_request_pending:
+            return self.redraw_time
         return eventtime + REDRAW_TIME
     def request_redraw(self):
         if self.redraw_request_pending:

klippy/extras/extruder_stepper.py

@@ -15,6 +15,8 @@ class PrinterExtruderStepper:
                                             self.handle_connect)
     def handle_connect(self):
         self.extruder_stepper.sync_to_extruder(self.extruder_name)
+    def find_past_position(self, print_time):
+        return self.extruder_stepper.find_past_position(print_time)
     def get_status(self, eventtime):
         return self.extruder_stepper.get_status(eventtime)
 

klippy/extras/force_move.py

@@ -1,6 +1,6 @@
 # Utility for manually moving a stepper for diagnostic purposes
 #
-# Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2018-2025  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging
@@ -10,7 +10,6 @@ BUZZ_DISTANCE = 1.
 BUZZ_VELOCITY = BUZZ_DISTANCE / .250
 BUZZ_RADIANS_DISTANCE = math.radians(1.)
 BUZZ_RADIANS_VELOCITY = BUZZ_RADIANS_DISTANCE / .250
-STALL_TIME = 0.100
 
 # Calculate a move's accel_t, cruise_t, and cruise_v
 def calc_move_time(dist, speed, accel):
@@ -56,24 +55,16 @@ class ForceMove:
             raise self.printer.config_error("Unknown stepper %s" % (name,))
         return self.steppers[name]
     def _force_enable(self, stepper):
-        toolhead = self.printer.lookup_object('toolhead')
+        stepper_name = stepper.get_name()
-        print_time = toolhead.get_last_move_time()
         stepper_enable = self.printer.lookup_object('stepper_enable')
-        enable = stepper_enable.lookup_enable(stepper.get_name())
+        did_enable = stepper_enable.set_motors_enable([stepper_name], True)
-        was_enable = enable.is_motor_enabled()
+        return did_enable
-        if not was_enable:
+    def _restore_enable(self, stepper, did_enable):
-            enable.motor_enable(print_time)
+        if not did_enable:
-            toolhead.dwell(STALL_TIME)
+            return
-        return was_enable
+        stepper_name = stepper.get_name()
-    def _restore_enable(self, stepper, was_enable):
-        if not was_enable:
-            toolhead = self.printer.lookup_object('toolhead')
-            toolhead.dwell(STALL_TIME)
-            print_time = toolhead.get_last_move_time()
         stepper_enable = self.printer.lookup_object('stepper_enable')
-            enable = stepper_enable.lookup_enable(stepper.get_name())
+        stepper_enable.set_motors_enable([stepper_name], False)
-            enable.motor_disable(print_time)
-            toolhead.dwell(STALL_TIME)
     def manual_move(self, stepper, dist, speed, accel=0.):
         toolhead = self.printer.lookup_object('toolhead')
         toolhead.flush_step_generation()
@@ -85,7 +76,7 @@ class ForceMove:
         self.trapq_append(self.trapq, print_time, accel_t, cruise_t, accel_t,
                           0., 0., 0., axis_r, 0., 0., 0., cruise_v, accel)
         print_time = print_time + accel_t + cruise_t + accel_t
-        toolhead.note_mcu_movequeue_activity(print_time)
+        self.motion_queuing.note_mcu_movequeue_activity(print_time)
         toolhead.dwell(accel_t + cruise_t + accel_t)
         toolhead.flush_step_generation()
         stepper.set_trapq(prev_trapq)
@@ -100,7 +91,7 @@ class ForceMove:
     def cmd_STEPPER_BUZZ(self, gcmd):
         stepper = self._lookup_stepper(gcmd)
         logging.info("Stepper buzz %s", stepper.get_name())
-        was_enable = self._force_enable(stepper)
+        did_enable = self._force_enable(stepper)
         toolhead = self.printer.lookup_object('toolhead')
         dist, speed = BUZZ_DISTANCE, BUZZ_VELOCITY
         if stepper.units_in_radians():
@@ -110,7 +101,7 @@ class ForceMove:
             toolhead.dwell(.050)
             self.manual_move(stepper, -dist, speed)
             toolhead.dwell(.450)
-        self._restore_enable(stepper, was_enable)
+        self._restore_enable(stepper, did_enable)
     cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"
     def cmd_FORCE_MOVE(self, gcmd):
         stepper = self._lookup_stepper(gcmd)

klippy/extras/gcode_move.py

@@ -92,7 +92,7 @@ class GCodeMove:
     def _get_gcode_position(self):
         p = [lp - bp for lp, bp in zip(self.last_position, self.base_position)]
         p[3] /= self.extrude_factor
-        return p
+        return p[:4]
     def _get_gcode_speed(self):
         return self.speed / self.speed_factor
     def _get_gcode_speed_override(self):
@@ -107,7 +107,7 @@ class GCodeMove:
             'absolute_extrude': self.absolute_extrude,
             'homing_origin': self.Coord(*self.homing_position[:4]),
             'position': self.Coord(*self.last_position[:4]),
-            'gcode_position': self.Coord(*move_position[:4]),
+            'gcode_position': self.Coord(*move_position),
         }
     def reset_last_position(self):
         if self.is_printer_ready:

klippy/extras/heaters.py

@@ -75,7 +75,8 @@ class Heater:
             # No significant change in value - can suppress update
             return
         pwm_time = read_time + self.pwm_delay
-        self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME
+        self.next_pwm_time = (pwm_time + MAX_HEAT_TIME
+                              - (3. * self.pwm_delay + 0.001))
         self.last_pwm_value = value
         self.mcu_pwm.set_pwm(pwm_time, value)
         #logging.debug("%s: pwm=%.3f@%.3f (from %.3f@%.3f [%.3f])",

klippy/extras/input_shaper.py

@@ -146,12 +146,8 @@ class InputShaper:
             is_sk = self._get_input_shaper_stepper_kinematics(s)
             if is_sk is None:
                 continue
-            old_delay = ffi_lib.input_shaper_get_step_generation_window(is_sk)
+            self.toolhead.flush_step_generation()
             ffi_lib.input_shaper_update_sk(is_sk)
-            new_delay = ffi_lib.input_shaper_get_step_generation_window(is_sk)
-            if old_delay != new_delay:
-                self.toolhead.note_step_generation_scan_time(new_delay,
-                                                             old_delay)
     def _update_input_shaping(self, error=None):
         self.toolhead.flush_step_generation()
         ffi_main, ffi_lib = chelper.get_ffi()
@@ -163,16 +159,11 @@ class InputShaper:
             is_sk = self._get_input_shaper_stepper_kinematics(s)
             if is_sk is None:
                 continue
-            old_delay = ffi_lib.input_shaper_get_step_generation_window(is_sk)
             for shaper in self.shapers:
                 if shaper in failed_shapers:
                     continue
                 if not shaper.set_shaper_kinematics(is_sk):
                     failed_shapers.append(shaper)
-            new_delay = ffi_lib.input_shaper_get_step_generation_window(is_sk)
-            if old_delay != new_delay:
-                self.toolhead.note_step_generation_scan_time(new_delay,
-                                                             old_delay)
         if failed_shapers:
             error = error or self.printer.command_error
             raise error("Failed to configure shaper(s) %s with given parameters"

klippy/extras/manual_stepper.py

@@ -22,6 +22,7 @@ class ManualStepper:
         self.velocity = config.getfloat('velocity', 5., above=0.)
         self.accel = self.homing_accel = config.getfloat('accel', 0., minval=0.)
         self.next_cmd_time = 0.
+        self.commanded_pos = 0.
         self.pos_min = config.getfloat('position_min', None)
         self.pos_max = config.getfloat('position_max', None)
         # Setup iterative solver
@@ -48,21 +49,16 @@ class ManualStepper:
         else:
             self.next_cmd_time = print_time
     def do_enable(self, enable):
-        self.sync_print_time()
+        stepper_names = [s.get_name() for s in self.steppers]
         stepper_enable = self.printer.lookup_object('stepper_enable')
-        if enable:
+        stepper_enable.set_motors_enable(stepper_names, enable)
-            for s in self.steppers:
-                se = stepper_enable.lookup_enable(s.get_name())
-                se.motor_enable(self.next_cmd_time)
-        else:
-            for s in self.steppers:
-                se = stepper_enable.lookup_enable(s.get_name())
-                se.motor_disable(self.next_cmd_time)
-        self.sync_print_time()
     def do_set_position(self, setpos):
-        self.rail.set_position([setpos, 0., 0.])
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.flush_step_generation()
+        self.commanded_pos = setpos
+        self.rail.set_position([self.commanded_pos, 0., 0.])
     def _submit_move(self, movetime, movepos, speed, accel):
-        cp = self.rail.get_commanded_position()
+        cp = self.commanded_pos
         dist = movepos - cp
         axis_r, accel_t, cruise_t, cruise_v = force_move.calc_move_time(
             dist, speed, accel)
@@ -70,13 +66,13 @@ class ManualStepper:
                           accel_t, cruise_t, accel_t,
                           cp, 0., 0., axis_r, 0., 0.,
                           0., cruise_v, accel)
+        self.commanded_pos = movepos
         return movetime + accel_t + cruise_t + accel_t
     def do_move(self, movepos, speed, accel, sync=True):
         self.sync_print_time()
         self.next_cmd_time = self._submit_move(self.next_cmd_time, movepos,
                                                speed, accel)
-        toolhead = self.printer.lookup_object('toolhead')
+        self.motion_queuing.note_mcu_movequeue_activity(self.next_cmd_time)
-        toolhead.note_mcu_movequeue_activity(self.next_cmd_time)
         if sync:
             self.sync_print_time()
     def do_homing_move(self, movepos, speed, accel, triggered, check_trigger):
@@ -149,7 +145,7 @@ class ManualStepper:
         self.instant_corner_v = instant_corner_v
         self.gaxis_limit_velocity = limit_velocity
         self.gaxis_limit_accel = limit_accel
-        toolhead.add_extra_axis(self, self.get_position()[0])
+        toolhead.add_extra_axis(self, self.commanded_pos)
     def process_move(self, print_time, move, ea_index):
         axis_r = move.axes_r[ea_index]
         start_pos = move.start_pos[ea_index]
@@ -161,6 +157,7 @@ class ManualStepper:
                           start_pos, 0., 0.,
                           1., 0., 0.,
                           start_v, cruise_v, accel)
+        self.commanded_pos = move.end_pos[ea_index]
     def check_move(self, move, ea_index):
         # Check move is in bounds
         movepos = move.end_pos[ea_index]
@@ -185,9 +182,10 @@ class ManualStepper:
         return self.trapq
     # Toolhead wrappers to support homing
     def flush_step_generation(self):
-        self.sync_print_time()
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.flush_step_generation()
     def get_position(self):
-        return [self.rail.get_commanded_position(), 0., 0., 0.]
+        return [self.commanded_pos, 0., 0., 0.]
     def set_position(self, newpos, homing_axes=""):
         self.do_set_position(newpos[0])
     def get_last_move_time(self):
@@ -198,15 +196,16 @@ class ManualStepper:
     def drip_move(self, newpos, speed, drip_completion):
         # Submit move to trapq
         self.sync_print_time()
-        maxtime = self._submit_move(self.next_cmd_time, newpos[0],
+        start_time = self.next_cmd_time
+        end_time = self._submit_move(start_time, newpos[0],
                                      speed, self.homing_accel)
         # Drip updates to motors
-        toolhead = self.printer.lookup_object('toolhead')
+        self.motion_queuing.drip_update_time(start_time, end_time,
-        toolhead.drip_update_time(maxtime, drip_completion)
+                                             drip_completion)
         # Clear trapq of any remaining parts of movement
         reactor = self.printer.get_reactor()
         self.motion_queuing.wipe_trapq(self.trapq)
-        self.rail.set_position([newpos[0], 0., 0.])
+        self.rail.set_position([self.commanded_pos, 0., 0.])
         self.sync_print_time()
     def get_kinematics(self):
         return self

klippy/extras/motion_queuing.py

@@ -6,23 +6,53 @@
 import logging
 import chelper
 
+BGFLUSH_LOW_TIME = 0.200
+BGFLUSH_BATCH_TIME = 0.200
+BGFLUSH_EXTRA_TIME = 0.250
 MOVE_HISTORY_EXPIRE = 30.
+MIN_KIN_TIME = 0.100
+MOVE_BATCH_TIME = 0.500
+STEPCOMPRESS_FLUSH_TIME = 0.050
+SDS_CHECK_TIME = 0.001 # step+dir+step filter in stepcompress.c
+
+DRIP_SEGMENT_TIME = 0.050
+DRIP_TIME = 0.100
 
 class PrinterMotionQueuing:
     def __init__(self, config):
-        self.printer = config.get_printer()
+        self.printer = printer = config.get_printer()
+        self.reactor = printer.get_reactor()
+        # Low level C allocations
         self.trapqs = []
         self.stepcompress = []
         self.steppersyncs = []
-        self.flush_callbacks = []
+        # Low-level C flushing calls
         ffi_main, ffi_lib = chelper.get_ffi()
         self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
         self.steppersync_generate_steps = ffi_lib.steppersync_generate_steps
         self.steppersync_flush = ffi_lib.steppersync_flush
         self.steppersync_history_expire = ffi_lib.steppersync_history_expire
+        # Flush notification callbacks
+        self.flush_callbacks = []
+        # History expiration
         self.clear_history_time = 0.
-        is_debug = self.printer.get_start_args().get('debugoutput') is not None
+        # Flush tracking
-        self.is_debugoutput = is_debug
+        self.flush_timer = self.reactor.register_timer(self._flush_handler)
+        self.do_kick_flush_timer = True
+        self.last_flush_time = self.last_step_gen_time = 0.
+        self.need_flush_time = self.need_step_gen_time = 0.
+        self.check_flush_lookahead_cb = (lambda e: None)
+        # MCU tracking
+        self.all_mcus = [m for n, m in printer.lookup_objects(module='mcu')]
+        self.mcu = self.all_mcus[0]
+        self.can_pause = True
+        if self.mcu.is_fileoutput():
+            self.can_pause = False
+        # Kinematic step generation scan window time tracking
+        self.need_calc_kin_flush_delay = True
+        self.kin_flush_delay = SDS_CHECK_TIME
+        # Register handlers
+        printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
     def allocate_trapq(self):
         ffi_main, ffi_lib = chelper.get_ffi()
         trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
@@ -53,8 +83,7 @@ class PrinterMotionQueuing:
             fcbs = list(self.flush_callbacks)
             fcbs.remove(callback)
             self.flush_callbacks = fcbs
-    def flush_motion_queues(self, must_flush_time, max_step_gen_time,
+    def _flush_motion_queues(self, must_flush_time, max_step_gen_time):
-                            trapq_free_time):
         # Invoke flush callbacks (if any)
         for cb in self.flush_callbacks:
             cb(must_flush_time, max_step_gen_time)
@@ -72,8 +101,9 @@ class PrinterMotionQueuing:
                 raise mcu.error("Internal error in MCU '%s' stepcompress"
                                 % (mcu.get_name(),))
         # Determine maximum history to keep
+        trapq_free_time = max_step_gen_time - self.kin_flush_delay
         clear_history_time = self.clear_history_time
-        if self.is_debugoutput:
+        if not self.can_pause:
             clear_history_time = trapq_free_time - MOVE_HISTORY_EXPIRE
         # Move processed trapq moves to history list, and expire old history
         for trapq in self.trapqs:
@@ -85,16 +115,127 @@ class PrinterMotionQueuing:
             self.steppersync_history_expire(ss, clock)
     def wipe_trapq(self, trapq):
         # Expire any remaining movement in the trapq (force to history list)
-        NEVER = 9999999999999999.
+        self.trapq_finalize_moves(trapq, self.reactor.NEVER, 0.)
-        self.trapq_finalize_moves(trapq, NEVER, 0.)
     def lookup_trapq_append(self):
         ffi_main, ffi_lib = chelper.get_ffi()
         return ffi_lib.trapq_append
     def stats(self, eventtime):
-        mcu = self.printer.lookup_object('mcu')
+        # Hack to globally invoke mcu check_active()
-        est_print_time = mcu.estimated_print_time(eventtime)
+        for m in self.all_mcus:
+            m.check_active(self.last_step_gen_time, eventtime)
+        # Calculate history expiration
+        est_print_time = self.mcu.estimated_print_time(eventtime)
         self.clear_history_time = est_print_time - MOVE_HISTORY_EXPIRE
         return False, ""
+    # Kinematic step generation scan window time tracking
+    def get_kin_flush_delay(self):
+        return self.kin_flush_delay
+    def _calc_kin_flush_delay(self):
+        self.need_calc_kin_flush_delay = False
+        ffi_main, ffi_lib = chelper.get_ffi()
+        kin_flush_delay = SDS_CHECK_TIME
+        for mcu, sc in self.stepcompress:
+            sk = ffi_lib.stepcompress_get_stepper_kinematics(sc)
+            if sk == ffi_main.NULL:
+                continue
+            trapq = ffi_lib.itersolve_get_trapq(sk)
+            if trapq == ffi_main.NULL:
+                continue
+            pre_active = ffi_lib.itersolve_get_gen_steps_pre_active(sk)
+            post_active = ffi_lib.itersolve_get_gen_steps_post_active(sk)
+            kin_flush_delay = max(kin_flush_delay, pre_active, post_active)
+        self.kin_flush_delay = kin_flush_delay
+    # Flush tracking
+    def _handle_shutdown(self):
+        self.can_pause = False
+    def setup_lookahead_flush_callback(self, check_flush_lookahead_cb):
+        self.check_flush_lookahead_cb = check_flush_lookahead_cb
+    def advance_flush_time(self, target_time, lazy_target=False):
+        want_flush_time = want_step_gen_time = target_time
+        if lazy_target:
+            # Account for step gen scan windows and optimize step compression
+            want_step_gen_time -= self.kin_flush_delay
+            want_flush_time = want_step_gen_time - STEPCOMPRESS_FLUSH_TIME
+        want_flush_time = max(want_flush_time, self.last_flush_time)
+        flush_time = self.last_flush_time
+        if want_flush_time > flush_time + 10. * MOVE_BATCH_TIME:
+            # Use closer startup time when coming out of idle state
+            curtime = self.reactor.monotonic()
+            est_print_time = self.mcu.estimated_print_time(curtime)
+            flush_time = max(flush_time, est_print_time)
+        while 1:
+            flush_time = min(flush_time + MOVE_BATCH_TIME, want_flush_time)
+            # Generate steps via itersolve
+            want_sg_wave = min(flush_time + STEPCOMPRESS_FLUSH_TIME,
+                               want_step_gen_time)
+            step_gen_time = max(self.last_step_gen_time, want_sg_wave,
+                                flush_time)
+            self._flush_motion_queues(flush_time, step_gen_time)
+            self.last_flush_time = flush_time
+            self.last_step_gen_time = step_gen_time
+            if flush_time >= want_flush_time:
+                break
+    def flush_all_steps(self):
+        self.need_calc_kin_flush_delay = True
+        self.advance_flush_time(self.need_step_gen_time)
+    def calc_step_gen_restart(self, est_print_time):
+        if self.need_calc_kin_flush_delay:
+            self._calc_kin_flush_delay()
+        kin_time = max(est_print_time + MIN_KIN_TIME, self.last_step_gen_time)
+        return kin_time + self.kin_flush_delay
+    def _flush_handler(self, eventtime):
+        try:
+            # Check if flushing is done via lookahead queue
+            ret = self.check_flush_lookahead_cb(eventtime)
+            if ret is not None:
+                return ret
+            # Flush motion queues
+            est_print_time = self.mcu.estimated_print_time(eventtime)
+            while 1:
+                end_flush = self.need_flush_time + BGFLUSH_EXTRA_TIME
+                if self.last_flush_time >= end_flush:
+                    self.do_kick_flush_timer = True
+                    return self.reactor.NEVER
+                buffer_time = self.last_flush_time - est_print_time
+                if buffer_time > BGFLUSH_LOW_TIME:
+                    return eventtime + buffer_time - BGFLUSH_LOW_TIME
+                ftime = est_print_time + BGFLUSH_LOW_TIME + BGFLUSH_BATCH_TIME
+                self.advance_flush_time(min(end_flush, ftime))
+        except:
+            logging.exception("Exception in flush_handler")
+            self.printer.invoke_shutdown("Exception in flush_handler")
+        return self.reactor.NEVER
+    def note_mcu_movequeue_activity(self, mq_time, is_step_gen=True):
+        if is_step_gen:
+            mq_time += self.kin_flush_delay
+            self.need_step_gen_time = max(self.need_step_gen_time, mq_time)
+        self.need_flush_time = max(self.need_flush_time, mq_time)
+        if self.do_kick_flush_timer:
+            self.do_kick_flush_timer = False
+            self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
+    def drip_update_time(self, start_time, end_time, drip_completion):
+        # Disable background flushing from timer
+        self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
+        self.do_kick_flush_timer = False
+        # Flush in segments until drip_completion signal
+        flush_delay = DRIP_TIME + STEPCOMPRESS_FLUSH_TIME + self.kin_flush_delay
+        flush_time = start_time
+        while flush_time < end_time:
+            if drip_completion.test():
+                break
+            curtime = self.reactor.monotonic()
+            est_print_time = self.mcu.estimated_print_time(curtime)
+            wait_time = flush_time - est_print_time - flush_delay
+            if wait_time > 0. and self.can_pause:
+                # Pause before sending more steps
+                drip_completion.wait(curtime + wait_time)
+                continue
+            flush_time = min(flush_time + DRIP_SEGMENT_TIME, end_time)
+            self.note_mcu_movequeue_activity(flush_time)
+            self.advance_flush_time(flush_time, lazy_target=True)
+        # Restore background flushing
+        self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
+        self.advance_flush_time(self.need_step_gen_time)
 
 def load_config(config):
     return PrinterMotionQueuing(config)

klippy/extras/output_pin.py

@@ -20,8 +20,8 @@ class GCodeRequestQueue:
         self.rqueue = []
         self.next_min_flush_time = 0.
         self.toolhead = None
-        motion_queuing = printer.load_object(config, 'motion_queuing')
+        self.motion_queuing = printer.load_object(config, 'motion_queuing')
-        motion_queuing.register_flush_callback(self._flush_notification)
+        self.motion_queuing.register_flush_callback(self._flush_notification)
         printer.register_event_handler("klippy:connect", self._handle_connect)
     def _handle_connect(self):
         self.toolhead = self.printer.lookup_object('toolhead')
@@ -51,11 +51,12 @@ class GCodeRequestQueue:
             del rqueue[:pos+1]
             self.next_min_flush_time = next_time + max(min_wait, min_sched_time)
             # Ensure following queue items are flushed
-            self.toolhead.note_mcu_movequeue_activity(self.next_min_flush_time,
+            self.motion_queuing.note_mcu_movequeue_activity(
-                                                      is_step_gen=False)
+                self.next_min_flush_time, is_step_gen=False)
     def _queue_request(self, print_time, value):
         self.rqueue.append((print_time, value))
-        self.toolhead.note_mcu_movequeue_activity(print_time, is_step_gen=False)
+        self.motion_queuing.note_mcu_movequeue_activity(
+            print_time, is_step_gen=False)
     def queue_gcode_request(self, value):
         self.toolhead.register_lookahead_callback(
             (lambda pt: self._queue_request(pt, value)))

klippy/extras/pwm_tool.py

@@ -16,8 +16,8 @@ class MCU_queued_pwm:
         self._max_duration = 2.
         self._oid = oid = mcu.create_oid()
         printer = mcu.get_printer()
-        motion_queuing = printer.load_object(config, 'motion_queuing')
+        self._motion_queuing = printer.load_object(config, 'motion_queuing')
-        self._stepqueue = motion_queuing.allocate_stepcompress(mcu, oid)
+        self._stepqueue = self._motion_queuing.allocate_stepcompress(mcu, oid)
         ffi_main, ffi_lib = chelper.get_ffi()
         self._stepcompress_queue_mq_msg = ffi_lib.stepcompress_queue_mq_msg
         mcu.register_config_callback(self._build_config)
@@ -62,8 +62,8 @@ class MCU_queued_pwm:
         if self._duration_ticks >= 1<<31:
             raise config_error("PWM pin max duration too large")
         if self._duration_ticks:
-            motion_queuing = printer.lookup_object('motion_queuing')
+            self._motion_queuing.register_flush_callback(
-            motion_queuing.register_flush_callback(self._flush_notification)
+                self._flush_notification)
         if self._hardware_pwm:
             self._pwm_max = self._mcu.get_constant_float("PWM_MAX")
             self._default_value = self._shutdown_value * self._pwm_max
@@ -116,7 +116,7 @@ class MCU_queued_pwm:
             # Continue flushing to resend time
             wakeclock += self._duration_ticks
         wake_print_time = self._mcu.clock_to_print_time(wakeclock)
-        self._toolhead.note_mcu_movequeue_activity(wake_print_time,
+        self._motion_queuing.note_mcu_movequeue_activity(wake_print_time,
                                                          is_step_gen=False)
     def set_pwm(self, print_time, value):
         clock = self._mcu.print_time_to_clock(print_time)

klippy/extras/sht3x.py

@@ -80,10 +80,10 @@ class SHT3X:
 
     def _init_sht3x(self):
         # Device Soft Reset
-        self.i2c.i2c_write_wait_ack(SHT3X_CMD['OTHER']['BREAK'])
+        self.i2c.i2c_write(SHT3X_CMD['OTHER']['BREAK'])
         # Break takes ~ 1ms
         self.reactor.pause(self.reactor.monotonic() + .0015)
-        self.i2c.i2c_write_wait_ack(SHT3X_CMD['OTHER']['SOFTRESET'])
+        self.i2c.i2c_write(SHT3X_CMD['OTHER']['SOFTRESET'])
         # Wait <=1.5ms after reset
         self.reactor.pause(self.reactor.monotonic() + .0015)
 
@@ -97,7 +97,7 @@ class SHT3X:
             logging.warning("sht3x: Reading status - checksum error!")
 
         # Enable periodic mode
-        self.i2c.i2c_write_wait_ack(
+        self.i2c.i2c_write(
             SHT3X_CMD['PERIODIC']['2HZ']['HIGH_REP']
         )
         # Wait <=15.5ms for first measurement

klippy/extras/stepper_enable.py

@@ -1,6 +1,6 @@
 # Support for enable pins on stepper motor drivers
 #
-# Copyright (C) 2019-2021  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2019-2025  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
@@ -88,27 +88,35 @@ class PrinterStepperEnable:
         name = mcu_stepper.get_name()
         enable = setup_enable_pin(self.printer, config.get('enable_pin', None))
         self.enable_lines[name] = EnableTracking(mcu_stepper, enable)
-    def motor_off(self):
+    def set_motors_enable(self, stepper_names, enable):
         toolhead = self.printer.lookup_object('toolhead')
+        # Flush steps to ensure all auto enable callbacks invoked
+        toolhead.flush_step_generation()
+        print_time = None
+        did_change = False
+        for stepper_name in stepper_names:
+            el = self.enable_lines[stepper_name]
+            if el.is_motor_enabled() == enable:
+                continue
+            if print_time is None:
+                # Dwell for sufficient delay from any previous auto enable
+                if not enable:
                     toolhead.dwell(DISABLE_STALL_TIME)
                 print_time = toolhead.get_last_move_time()
-        for el in self.enable_lines.values():
-            el.motor_disable(print_time)
-        toolhead.get_kinematics().clear_homing_state("xyz")
-        self.printer.send_event("stepper_enable:motor_off", print_time)
-        toolhead.dwell(DISABLE_STALL_TIME)
-    def motor_debug_enable(self, stepper, enable):
-        toolhead = self.printer.lookup_object('toolhead')
-        toolhead.dwell(DISABLE_STALL_TIME)
-        print_time = toolhead.get_last_move_time()
-        el = self.enable_lines[stepper]
             if enable:
                 el.motor_enable(print_time)
-            logging.info("%s has been manually enabled", stepper)
             else:
                 el.motor_disable(print_time)
-            logging.info("%s has been manually disabled", stepper)
+            did_change = True
+        # Dwell to ensure sufficient delay prior to a future auto enable
+        if did_change and not enable:
             toolhead.dwell(DISABLE_STALL_TIME)
+        return did_change
+    def motor_off(self):
+        self.set_motors_enable(self.get_steppers(), False)
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.get_kinematics().clear_homing_state("xyz")
+        self.printer.send_event("stepper_enable:motor_off")
     def get_status(self, eventtime):
         steppers = { name: et.is_motor_enabled()
                      for (name, et) in self.enable_lines.items() }
@@ -126,7 +134,11 @@ class PrinterStepperEnable:
                               % (stepper_name,))
             return
         stepper_enable = gcmd.get_int('ENABLE', 1)
-        self.motor_debug_enable(stepper_name, stepper_enable)
+        self.set_motors_enable([stepper_name], stepper_enable)
+        if stepper_enable:
+            logging.info("%s has been manually enabled", stepper_name)
+        else:
+            logging.info("%s has been manually disabled", stepper_name)
     def lookup_enable(self, name):
         if name not in self.enable_lines:
             raise self.printer.config_error("Unknown stepper '%s'" % (name,))

klippy/extras/sx1509.py

@@ -29,7 +29,6 @@ class SX1509(object):
         self._ppins = self._printer.lookup_object("pins")
         self._ppins.register_chip("sx1509_" + self._name, self)
         self._mcu = self._i2c.get_mcu()
-        self._mcu.register_config_callback(self._build_config)
         self._oid = self._i2c.get_oid()
         self._last_clock = 0
         # Set up registers default values
@@ -37,22 +36,26 @@ class SX1509(object):
                          REG_PULLUP : 0, REG_PULLDOWN : 0,
                          REG_INPUT_DISABLE : 0, REG_ANALOG_DRIVER_ENABLE : 0}
         self.reg_i_on_dict = {reg : 0 for reg in REG_I_ON}
-    def _build_config(self):
+        config.get_printer().register_event_handler("klippy:connect",
+                                                    self.handle_connect)
+    def handle_connect(self):
         # Reset the chip, Default RegClock/RegMisc 0x0
-        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
+        self._i2c.i2c_write([REG_RESET, 0x12])
-            self._oid, REG_RESET, 0x12))
+        self._i2c.i2c_write([REG_RESET, 0x34])
-        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
-            self._oid, REG_RESET, 0x34))
         # Enable Oscillator
-        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
+        self._i2c.i2c_write([REG_CLOCK, (1 << 6)])
-            self._oid, REG_CLOCK, (1 << 6)))
         # Setup Clock Divider
-        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
+        self._i2c.i2c_write([REG_MISC, (1 << 4)])
-            self._oid, REG_MISC, (1 << 4)))
         # Transfer all regs with their initial cached state
-        for _reg, _data in self.reg_dict.items():
+        reactor = self._mcu.get_printer().get_reactor()
-            self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%04x" % (
+        for _reg in self.reg_dict:
-                self._oid, _reg, _data), is_init=True)
+            curtime = reactor.monotonic()
+            printtime = self._mcu.estimated_print_time(curtime)
+            self.send_register(_reg, printtime)
+        for reg in self.reg_i_on_dict:
+            curtime = reactor.monotonic()
+            printtime = self._mcu.estimated_print_time(curtime)
+            self.send_register(reg, printtime)
     def setup_pin(self, pin_type, pin_params):
         if pin_type == 'digital_out' and pin_params['pin'][0:4] == "PIN_":
             return SX1509_digital_out(self, pin_params)
@@ -159,15 +162,6 @@ class SX1509_pwm(object):
             raise pins.error("SX1509_pwm must have hardware_pwm enabled")
         if self._max_duration:
             raise pins.error("SX1509 pins are not suitable for heaters")
-        # Send initial value
-        self._sx1509.set_register(self._i_on_reg,
-                                  ~int(255 * self._start_value) & 0xFF)
-        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
-            self._sx1509.get_oid(),
-            self._i_on_reg,
-            self._sx1509.reg_i_on_dict[self._i_on_reg]
-            ),
-                                 is_init=True)
     def get_mcu(self):
         return self._mcu
     def setup_max_duration(self, max_duration):
@@ -181,6 +175,8 @@ class SX1509_pwm(object):
             shutdown_value = 1. - shutdown_value
         self._start_value = max(0., min(1., start_value))
         self._shutdown_value = max(0., min(1., shutdown_value))
+        self._sx1509.set_register(self._i_on_reg,
+                                  ~int(255 * self._start_value) & 0xFF)
     def set_pwm(self, print_time, value):
         self._sx1509.set_register(self._i_on_reg, ~int(255 * value)
                                   if not self._invert

klippy/extras/temperature_probe.py

@@ -132,7 +132,7 @@ class TemperatureProbe:
         self.start_pos = []
 
         # Register GCode Commands
-        pname = self.name.split(maxsplit=1)[-1]
+        pname = self.name.split(None, 1)[-1]
         self.gcode.register_mux_command(
             "TEMPERATURE_PROBE_CALIBRATE", "PROBE", pname,
             self.cmd_TEMPERATURE_PROBE_CALIBRATE,
@@ -357,8 +357,8 @@ class TemperatureProbe:
         self._check_homed()
         probe = self._get_probe()
         probe_name = probe.get_status(None)["name"]
-        short_name = probe_name.split(maxsplit=1)[-1]
+        short_name = probe_name.split(None, 1)[-1]
-        if short_name != self.name.split(maxsplit=1)[-1]:
+        if short_name != self.name.split(None, 1)[-1]:
             raise self.gcode.error(
                 "[%s] not linked to registered probe [%s]."
                 % (self.name, probe_name)
@@ -588,7 +588,7 @@ class EddyDriftCompensation:
                     temps[idx] = cur_temp
                     probe_samples[idx].append(sample)
             return True
-        sect_name = "probe_eddy_current " + self.name.split(maxsplit=1)[-1]
+        sect_name = "probe_eddy_current " + self.name.split(None, 1)[-1]
         self.printer.lookup_object(sect_name).add_client(_on_bulk_data_recd)
         for i in range(DRIFT_SAMPLE_COUNT):
             if i == 0:

klippy/extras/tmc2240.py

@@ -262,6 +262,9 @@ FieldFormatters.update({
     "adc_temp":         (lambda v: "0x%04x(%.1fC)" % (v, ((v - 2038) / 7.7))),
     "adc_vsupply":      (lambda v: "0x%04x(%.3fV)" % (v, v * 0.009732)),
     "adc_ain":          (lambda v: "0x%04x(%.3fmV)" % (v, v * 0.3052)),
+    "overvoltage_vth":  (lambda v: "0x%04x(%.3fV)" % (v, v * 0.009732)),
+    "overtempprewarning_vth": (lambda v:
+                               "0x%04x(%.1fC)" % (v, ((v - 2038) / 7.7))),
 })
 
 

klippy/extras/z_tilt.py

@@ -79,7 +79,7 @@ class ZAdjustStatus:
         self.applied = False
     def get_status(self, eventtime):
         return {'applied': self.applied}
-    def _motor_off(self, print_time):
+    def _motor_off(self):
         self.reset()
 
 class RetryHelper:

klippy/gcode.py

@@ -430,7 +430,6 @@ class GCodeIO:
                 self.gcode.request_restart('exit')
             pending_commands.append("")
         # Handle case where multiple commands pending
-        if self.is_processing_data or len(pending_commands) > 1:
         if len(pending_commands) < 20:
             # Check for M112 out-of-order
             for line in lines:

klippy/kinematics/extruder.py

@@ -69,11 +69,13 @@ class ExtruderStepper:
         if not pressure_advance:
             new_smooth_time = 0.
         toolhead = self.printer.lookup_object("toolhead")
-        if new_smooth_time != old_smooth_time:
-            toolhead.note_step_generation_scan_time(
-                    new_smooth_time * .5, old_delay=old_smooth_time * .5)
         ffi_main, ffi_lib = chelper.get_ffi()
         espa = ffi_lib.extruder_set_pressure_advance
+        if new_smooth_time != old_smooth_time:
+            # Need full kinematic flush to change the smooth time
+            toolhead.flush_step_generation()
+            espa(self.sk_extruder, 0., pressure_advance, new_smooth_time)
+        else:
             toolhead.register_lookahead_callback(
                 lambda print_time: espa(self.sk_extruder, print_time,
                                         pressure_advance, new_smooth_time))

klippy/mcu.py

@@ -84,7 +84,7 @@ class CommandQueryWrapper:
 
 # Wrapper around command sending
 class CommandWrapper:
-    def __init__(self, serial, msgformat, cmd_queue=None):
+    def __init__(self, serial, msgformat, cmd_queue=None, debugoutput=False):
         self._serial = serial
         msgparser = serial.get_msgparser()
         self._cmd = msgparser.lookup_command(msgformat)
@@ -92,6 +92,9 @@ class CommandWrapper:
             cmd_queue = serial.get_default_command_queue()
         self._cmd_queue = cmd_queue
         self._msgtag = msgparser.lookup_msgid(msgformat) & 0xffffffff
+        if debugoutput:
+            # Can't use send_wait_ack when in debugging mode
+            self.send_wait_ack = self.send
     def send(self, data=(), minclock=0, reqclock=0):
         cmd = self._cmd.encode(data)
         self._serial.raw_send(cmd, minclock, reqclock, self._cmd_queue)
@@ -888,7 +891,8 @@ class MCU:
     def alloc_command_queue(self):
         return self._serial.alloc_command_queue()
     def lookup_command(self, msgformat, cq=None):
-        return CommandWrapper(self._serial, msgformat, cq)
+        return CommandWrapper(self._serial, msgformat, cq,
+                              debugoutput=self.is_fileoutput())
     def lookup_query_command(self, msgformat, respformat, oid=None,
                              cq=None, is_async=False):
         return CommandQueryWrapper(self._serial, msgformat, respformat, oid,

klippy/reactor.py

@@ -1,6 +1,6 @@
 # File descriptor and timer event helper
 #
-# Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2025  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import os, gc, select, math, time, logging, queue
@@ -14,6 +14,7 @@ class ReactorTimer:
     def __init__(self, callback, waketime):
         self.callback = callback
         self.waketime = waketime
+        self.timer_is_running = False
 
 class ReactorCompletion:
     class sentinel: pass
@@ -118,6 +119,8 @@ class SelectReactor:
         return tuple(self._last_gc_times)
     # Timers
     def update_timer(self, timer_handler, waketime):
+        if timer_handler.timer_is_running:
+            return
         timer_handler.waketime = waketime
         self._next_timer = min(self._next_timer, waketime)
     def register_timer(self, callback, waketime=NEVER):
@@ -155,7 +158,9 @@ class SelectReactor:
             waketime = t.waketime
             if eventtime >= waketime:
                 t.waketime = self.NEVER
+                t.timer_is_running = True
                 t.waketime = waketime = t.callback(eventtime)
+                t.timer_is_running = False
                 if g_dispatch is not self._g_dispatch:
                     self._next_timer = min(self._next_timer, waketime)
                     self._end_greenlet(g_dispatch)

klippy/toolhead.py

@@ -193,25 +193,13 @@ class LookAheadQueue:
 BUFFER_TIME_LOW = 1.0
 BUFFER_TIME_HIGH = 2.0
 BUFFER_TIME_START = 0.250
-BGFLUSH_LOW_TIME = 0.200
-BGFLUSH_BATCH_TIME = 0.200
-BGFLUSH_EXTRA_TIME = 0.250
-MIN_KIN_TIME = 0.100
-MOVE_BATCH_TIME = 0.500
-STEPCOMPRESS_FLUSH_TIME = 0.050
-SDS_CHECK_TIME = 0.001 # step+dir+step filter in stepcompress.c
-
-DRIP_SEGMENT_TIME = 0.050
-DRIP_TIME = 0.100
 
 # Main code to track events (and their timing) on the printer toolhead
 class ToolHead:
     def __init__(self, config):
         self.printer = config.get_printer()
         self.reactor = self.printer.get_reactor()
-        self.all_mcus = [
+        self.mcu = self.printer.lookup_object('mcu')
-            m for n, m in self.printer.lookup_objects(module='mcu')]
-        self.mcu = self.all_mcus[0]
         self.lookahead = LookAheadQueue()
         self.lookahead.set_flush_time(BUFFER_TIME_HIGH)
         self.commanded_pos = [0., 0., 0., 0.]
@@ -236,16 +224,10 @@ class ToolHead:
         self.print_time = 0.
         self.special_queuing_state = "NeedPrime"
         self.priming_timer = None
-        # Flush tracking
-        self.flush_timer = self.reactor.register_timer(self._flush_handler)
-        self.do_kick_flush_timer = True
-        self.last_flush_time = self.min_restart_time = 0.
-        self.need_flush_time = self.step_gen_time = 0.
-        # Kinematic step generation scan window time tracking
-        self.kin_flush_delay = SDS_CHECK_TIME
-        self.kin_flush_times = []
         # Setup for generating moves
         self.motion_queuing = self.printer.load_object(config, 'motion_queuing')
+        self.motion_queuing.setup_lookahead_flush_callback(
+            self._check_flush_lookahead)
         self.trapq = self.motion_queuing.allocate_trapq()
         self.trapq_append = self.motion_queuing.lookup_trapq_append()
         # Create kinematics class
@@ -268,33 +250,15 @@ class ToolHead:
         # Register handlers
         self.printer.register_event_handler("klippy:shutdown",
                                             self._handle_shutdown)
-    # Print time and flush tracking
+    # Print time tracking
-    def _advance_flush_time(self, flush_time):
-        flush_time = max(flush_time, self.last_flush_time)
-        # Generate steps via itersolve
-        sg_flush_want = min(flush_time + STEPCOMPRESS_FLUSH_TIME,
-                            self.print_time - self.kin_flush_delay)
-        sg_flush_time = max(sg_flush_want, flush_time)
-        trapq_free_time = sg_flush_time - self.kin_flush_delay
-        self.motion_queuing.flush_motion_queues(flush_time, sg_flush_time,
-                                                trapq_free_time)
-        self.min_restart_time = max(self.min_restart_time, sg_flush_time)
-        self.last_flush_time = flush_time
     def _advance_move_time(self, next_print_time):
-        pt_delay = self.kin_flush_delay + STEPCOMPRESS_FLUSH_TIME
-        flush_time = max(self.last_flush_time, self.print_time - pt_delay)
         self.print_time = max(self.print_time, next_print_time)
-        want_flush_time = max(flush_time, self.print_time - pt_delay)
+        self.motion_queuing.advance_flush_time(self.print_time,
-        while 1:
+                                               lazy_target=True)
-            flush_time = min(flush_time + MOVE_BATCH_TIME, want_flush_time)
-            self._advance_flush_time(flush_time)
-            if flush_time >= want_flush_time:
-                break
     def _calc_print_time(self):
         curtime = self.reactor.monotonic()
         est_print_time = self.mcu.estimated_print_time(curtime)
-        kin_time = max(est_print_time + MIN_KIN_TIME, self.min_restart_time)
+        kin_time = self.motion_queuing.calc_step_gen_restart(est_print_time)
-        kin_time += self.kin_flush_delay
         min_print_time = max(est_print_time + BUFFER_TIME_START, kin_time)
         if min_print_time > self.print_time:
             self.print_time = min_print_time
@@ -328,10 +292,10 @@ class ToolHead:
             for cb in move.timing_callbacks:
                 cb(next_move_time)
         # Generate steps for moves
-        self.note_mcu_movequeue_activity(next_move_time + self.kin_flush_delay)
+        self.motion_queuing.note_mcu_movequeue_activity(next_move_time)
         self._advance_move_time(next_move_time)
     def _flush_lookahead(self):
-        # Transit from "NeedPrime"/"Priming"/"Drip"/main state to "NeedPrime"
+        # Transit from "NeedPrime"/"Priming"/main state to "NeedPrime"
         self._process_lookahead()
         self.special_queuing_state = "NeedPrime"
         self.need_check_pause = -1.
@@ -339,8 +303,7 @@ class ToolHead:
         self.check_stall_time = 0.
     def flush_step_generation(self):
         self._flush_lookahead()
-        self._advance_flush_time(self.step_gen_time)
+        self.motion_queuing.flush_all_steps()
-        self.min_restart_time = max(self.min_restart_time, self.print_time)
     def get_last_move_time(self):
         if self.special_queuing_state:
             self._flush_lookahead()
@@ -391,11 +354,11 @@ class ToolHead:
             logging.exception("Exception in priming_handler")
             self.printer.invoke_shutdown("Exception in priming_handler")
         return self.reactor.NEVER
-    def _flush_handler(self, eventtime):
+    def _check_flush_lookahead(self, eventtime):
-        try:
+        if self.special_queuing_state:
-            est_print_time = self.mcu.estimated_print_time(eventtime)
+            return None
-            if not self.special_queuing_state:
         # In "main" state - flush lookahead if buffer runs low
+        est_print_time = self.mcu.estimated_print_time(eventtime)
         print_time = self.print_time
         buffer_time = print_time - est_print_time
         if buffer_time > BUFFER_TIME_LOW:
@@ -405,21 +368,7 @@ class ToolHead:
         self._flush_lookahead()
         if print_time != self.print_time:
             self.check_stall_time = self.print_time
-            # In "NeedPrime"/"Priming" state - flush queues if needed
+        return None
-            while 1:
-                end_flush = self.need_flush_time + BGFLUSH_EXTRA_TIME
-                if self.last_flush_time >= end_flush:
-                    self.do_kick_flush_timer = True
-                    return self.reactor.NEVER
-                buffer_time = self.last_flush_time - est_print_time
-                if buffer_time > BGFLUSH_LOW_TIME:
-                    return eventtime + buffer_time - BGFLUSH_LOW_TIME
-                ftime = est_print_time + BGFLUSH_LOW_TIME + BGFLUSH_BATCH_TIME
-                self._advance_flush_time(min(end_flush, ftime))
-        except:
-            logging.exception("Exception in flush_handler")
-            self.printer.invoke_shutdown("Exception in flush_handler")
-        return self.reactor.NEVER
     # Movement commands
     def get_position(self):
         return list(self.commanded_pos)
@@ -491,32 +440,6 @@ class ToolHead:
     def get_extra_axes(self):
         return [None, None, None] + self.extra_axes
     # Homing "drip move" handling
-    def drip_update_time(self, next_print_time, drip_completion):
-        # Transition from "NeedPrime"/"Priming"/main state to "Drip" state
-        self.special_queuing_state = "Drip"
-        self.need_check_pause = self.reactor.NEVER
-        self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
-        self.do_kick_flush_timer = False
-        self.lookahead.set_flush_time(BUFFER_TIME_HIGH)
-        self.check_stall_time = 0.
-        # Update print_time in segments until drip_completion signal
-        flush_delay = DRIP_TIME + STEPCOMPRESS_FLUSH_TIME + self.kin_flush_delay
-        while self.print_time < next_print_time:
-            if drip_completion.test():
-                break
-            curtime = self.reactor.monotonic()
-            est_print_time = self.mcu.estimated_print_time(curtime)
-            wait_time = self.print_time - est_print_time - flush_delay
-            if wait_time > 0. and self.can_pause:
-                # Pause before sending more steps
-                drip_completion.wait(curtime + wait_time)
-                continue
-            npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time)
-            self.note_mcu_movequeue_activity(npt + self.kin_flush_delay)
-            self._advance_move_time(npt)
-        # Exit "Drip" state
-        self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
-        self.flush_step_generation()
     def _drip_load_trapq(self, submit_move):
         # Queue move into trapezoid motion queue (trapq)
         if submit_move.move_d:
@@ -524,18 +447,17 @@ class ToolHead:
             self.lookahead.add_move(submit_move)
         moves = self.lookahead.flush()
         self._calc_print_time()
-        next_move_time = self.print_time
+        start_time = end_time = self.print_time
         for move in moves:
             self.trapq_append(
-                self.trapq, next_move_time,
+                self.trapq, end_time,
                 move.accel_t, move.cruise_t, move.decel_t,
                 move.start_pos[0], move.start_pos[1], move.start_pos[2],
                 move.axes_r[0], move.axes_r[1], move.axes_r[2],
                 move.start_v, move.cruise_v, move.accel)
-            next_move_time = (next_move_time + move.accel_t
+            end_time = end_time + move.accel_t + move.cruise_t + move.decel_t
-                              + move.cruise_t + move.decel_t)
         self.lookahead.reset()
-        return next_move_time
+        return start_time, end_time
     def drip_move(self, newpos, speed, drip_completion):
         # Create and verify move is valid
         newpos = newpos[:3] + self.commanded_pos[3:]
@@ -543,23 +465,20 @@ class ToolHead:
         if move.move_d:
             self.kin.check_move(move)
         # Make sure stepper movement doesn't start before nominal start time
-        self.dwell(self.kin_flush_delay)
+        kin_flush_delay = self.motion_queuing.get_kin_flush_delay()
+        self.dwell(kin_flush_delay)
         # Transmit move in "drip" mode
         self._process_lookahead()
-        next_move_time = self._drip_load_trapq(move)
+        start_time, end_time = self._drip_load_trapq(move)
-        self.drip_update_time(next_move_time, drip_completion)
+        self.motion_queuing.drip_update_time(start_time, end_time,
+                                             drip_completion)
         # Move finished; cleanup any remnants on trapq
         self.motion_queuing.wipe_trapq(self.trapq)
     # Misc commands
     def stats(self, eventtime):
-        max_queue_time = max(self.print_time, self.last_flush_time)
-        for m in self.all_mcus:
-            m.check_active(max_queue_time, eventtime)
         est_print_time = self.mcu.estimated_print_time(eventtime)
         buffer_time = self.print_time - est_print_time
         is_active = buffer_time > -60. or not self.special_queuing_state
-        if self.special_queuing_state == "Drip":
-            buffer_time = 0.
         return is_active, "print_time=%.3f buffer_time=%.3f print_stall=%d" % (
             self.print_time, max(buffer_time, 0.), self.print_stall)
     def check_busy(self, eventtime):
@@ -588,27 +507,12 @@ class ToolHead:
         return self.kin
     def get_trapq(self):
         return self.trapq
-    def note_step_generation_scan_time(self, delay, old_delay=0.):
-        self.flush_step_generation()
-        if old_delay:
-            self.kin_flush_times.pop(self.kin_flush_times.index(old_delay))
-        if delay:
-            self.kin_flush_times.append(delay)
-        new_delay = max(self.kin_flush_times + [SDS_CHECK_TIME])
-        self.kin_flush_delay = new_delay
     def register_lookahead_callback(self, callback):
         last_move = self.lookahead.get_last()
         if last_move is None:
             callback(self.get_last_move_time())
             return
         last_move.timing_callbacks.append(callback)
-    def note_mcu_movequeue_activity(self, mq_time, is_step_gen=True):
-        self.need_flush_time = max(self.need_flush_time, mq_time)
-        if is_step_gen:
-            self.step_gen_time = max(self.step_gen_time, mq_time)
-        if self.do_kick_flush_timer:
-            self.do_kick_flush_timer = False
-            self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
     def get_max_velocity(self):
         return self.max_velocity, self.max_accel
     def _calc_junction_deviation(self):
@@ -662,7 +566,7 @@ class ToolHeadCommandHelper:
         msg = ("max_velocity: %.6f\n"
                "max_accel: %.6f\n"
                "minimum_cruise_ratio: %.6f\n"
-               "square_corner_velocity: %.6f" % (mv, ma, scv, mcr))
+               "square_corner_velocity: %.6f" % (mv, ma, mcr, scv))
         self.printer.set_rollover_info("toolhead", "toolhead: %s" % (msg,))
         if (max_velocity is None and max_accel is None
             and square_corner_velocity is None and min_cruise_ratio is None):

scripts/spi_flash/board_defs.py

@@ -170,6 +170,14 @@ BOARD_DEFS = {
         "firmware_path": "ZNP_ROBIN_NANO.bin",
         "current_firmware_path": "ZNP_ROBIN_NANO.CUR"
     },
+    'qidi-x6': {
+        'mcu': "stm32f401xc",
+        'spi_bus': "spi2",
+        'cs_pin': "PB12",
+        'skip_verify': False,
+        'firmware_path': 'X_4.bin',
+        'current_firmware_path': 'X_4.CUR'
+    },
     'qidi-x7': {
         'mcu': "stm32f401xc",
         'spi_bus': "spi2",
@@ -228,6 +236,9 @@ BOARD_ALIASES = {
     'robin_v3': BOARD_DEFS['monster8'],
     'btt-skrat-v1.0': BOARD_DEFS['btt-skrat'],
     'chitu-v6': BOARD_DEFS['chitu-v6'],
+    'qidi-x-smart3': BOARD_DEFS['qidi-x6'],
+    'qidi-x-plus3': BOARD_DEFS['qidi-x6'],
+    'qidi-x-max3': BOARD_DEFS['qidi-x6'],
     'qidi-q1-pro': BOARD_DEFS['qidi-x7'],
     'qidi-plus4': BOARD_DEFS['qidi-x7']
 }

src/stm32/Kconfig

@@ -302,7 +302,7 @@ choice
     config STM32_FLASH_START_C000
         bool "48KiB bootloader" if MACH_STM32F4x5 || MACH_STM32F401
     config STM32_FLASH_START_10000
-        bool "64KiB bootloader" if MACH_STM32F103 || MACH_STM32F4
+        bool "64KiB bootloader" if MACH_STM32F103 || MACH_STM32F4 || MACH_N32G45x
 
     config STM32_FLASH_START_800
         bool "2KiB bootloader" if MACH_STM32F103

src/stm32/Makefile

@@ -94,7 +94,7 @@ src-$(CONFIG_HAVE_GPIO_SDIO) += stm32/sdio.c
 target-y += $(OUT)klipper.bin
 
 $(OUT)klipper.bin: $(OUT)klipper.elf
-	@echo "  Creating hex file $@"
+	@echo "  Creating bin file $@"
 	$(Q)$(OBJCOPY) -O binary $< $@
 
 # Flash rules

src/stm32/n32g45x_adc.c

@@ -14,6 +14,8 @@
 #include "sched.h" // sched_shutdown
 #include "n32g45x_adc.h" // ADC
 
+#define ADC_INVALID_PIN 0xFF
+
 DECL_CONSTANT("ADC_MAX", 4095);
 
 #define ADC_TEMPERATURE_PIN 0xfe
@@ -21,42 +23,42 @@ DECL_ENUMERATION("pin", "ADC_TEMPERATURE", ADC_TEMPERATURE_PIN);
 
 static const uint8_t adc_pins[] = {
     // ADC1
-    0, GPIO('A', 0), GPIO('A', 1), GPIO('A', 6),
+    ADC_INVALID_PIN, GPIO('A', 0), GPIO('A', 1), GPIO('A', 6),
-    GPIO('A', 3), GPIO('F', 4), 0, 0,
+    GPIO('A', 3), GPIO('F', 4), ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    ADC_TEMPERATURE_PIN, 0, 0, 0,
+    ADC_TEMPERATURE_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
     // ADC2
-    0, GPIO('A', 4), GPIO('A', 5), GPIO('B', 1),
+    ADC_INVALID_PIN, GPIO('A', 4), GPIO('A', 5), GPIO('B', 1),
     GPIO('A', 7), GPIO('C', 4), GPIO('C', 0), GPIO('C', 1),
     GPIO('C', 2), GPIO('C', 3), GPIO('F', 2), GPIO('A', 2),
-    GPIO('C', 5), GPIO('B', 2), 0, 0,
+    GPIO('C', 5), GPIO('B', 2), ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
 #if CONFIG_MACH_N32G455 // ADC3/4 for G455 only
     // ADC3
-    0, GPIO('B', 11), GPIO('E', 9), GPIO('E', 13),
+    ADC_INVALID_PIN, GPIO('B', 11), GPIO('E', 9), GPIO('E', 13),
     GPIO('E', 12), GPIO('B', 13), GPIO('E', 8), GPIO('D', 10),
     GPIO('D', 11), GPIO('D', 12), GPIO('D', 13), GPIO('D', 14),
     GPIO('B', 0), GPIO('E', 7), GPIO('E', 10), GPIO('E', 11),
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
     // ADC4
-    0, GPIO('E', 14), GPIO('E', 15), GPIO('B', 12),
+    ADC_INVALID_PIN, GPIO('E', 14), GPIO('E', 15), GPIO('B', 12),
-    GPIO('B', 14), GPIO('B', 15), 0, 0,
+    GPIO('B', 14), GPIO('B', 15), ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    GPIO('D', 8), GPIO('D', 9), 0, 0,
+    GPIO('D', 8), GPIO('D', 9), ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
 #endif
 };
 

test/klippy/extruders.cfg

@@ -66,3 +66,19 @@ max_velocity: 300
 max_accel: 3000
 max_z_velocity: 5
 max_z_accel: 100
+
+[filament_switch_sensor runout_switch]
+switch_pin = PD4
+
+[filament_motion_sensor runout_encoder]
+switch_pin = PD5
+detection_length = 4
+extruder = extruder
+
+[filament_switch_sensor runout_switch1]
+switch_pin = PL4
+
+[filament_motion_sensor runout_encoder1]
+switch_pin = PL6
+detection_length = 4
+extruder = extruder_stepper my_extra_stepper

test/klippy/manual_stepper.test

@@ -10,6 +10,10 @@ MANUAL_STEPPER STEPPER=basic_stepper MOVE=5
 MANUAL_STEPPER STEPPER=basic_stepper MOVE=12 SPEED=12 ACCEL=9000.2
 MANUAL_STEPPER STEPPER=basic_stepper ENABLE=0
 
+# Test long move
+MANUAL_STEPPER STEPPER=basic_stepper MOVE=300 SPEED=10 ACCEL=2000
+MANUAL_STEPPER STEPPER=basic_stepper MOVE=100 SPEED=10 ACCEL=2000
+
 # Test homing move
 MANUAL_STEPPER STEPPER=homing_stepper ENABLE=1
 MANUAL_STEPPER STEPPER=homing_stepper SET_POSITION=0
@@ -29,6 +33,10 @@ G28
 G1 X20 Y20 Z10
 G1 A10 X22
 
+# Verify position query commands work with extra axis
+GET_POSITION
+M114
+
 # Test unregistering
 MANUAL_STEPPER STEPPER=basic_stepper GCODE_AXIS=
 G1 X15