Merge branch 'master' of https://github.com/GuoGeTiertime/klipper

config/printer-creality-ender5-2019.cfg

@@ -1,10 +1,12 @@
 # This file contains common pin mappings for the 2019 Creality
 # Ender 5. To use this config, the firmware should be compiled for the
-# AVR atmega1284p.
+# AVR atmega1284p. This also works for the v1.1.5 silent boards.
 
 # Note, a number of Melzi boards are shipped with a bootloader that
 # requires the following command to flash the board:
 #  avrdude -p atmega1284p -c arduino -b 57600 -P /dev/ttyUSB0 -U out/klipper.elf.hex
+# For v1.1.5 silent boards, the following command is used:
+#  avrdude -p atmega1284p -c arduino -P /dev/ttyUSB0 -b 115200 -U flash:w:out/klipper.elf.hex
 # If the above command does not work and "make flash" does not work
 # then one may need to flash a bootloader to the board - see the
 # Klipper docs/Bootloaders.md file for more information.
@@ -80,6 +82,8 @@ pin: PB4
 
 [mcu]
 serial: /dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0
+# Silent boards tend to have the exact same serial ID, except without USB2.0, using USB instead.
+# e.g. /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
 
 [printer]
 kinematics: cartesian

docs/Config_Changes.md

@@ -8,6 +8,15 @@ All dates in this document are approximate.
 
 ## Changes
 
+20230826: If `safe_distance` is set or calculated to be 0 in `[dual_carriage]`,
+the carriages proximity checks will be disabled as per documentation. A user
+may wish to configure `safe_distance` explicitly to prevent accidental crashes
+of the carriages with each other. Additionally, the homing order of the primary
+and the dual carriage is changed in some configurations (certain configurations
+when both carriages home in the same direction, see
+[[dual_carriage] configuration reference](./Config_Reference.md#dual_carriage)
+for more details).
+
 20230810: The flash-sdcard.sh script now supports both variants of the
 Bigtreetech SKR-3, STM32H743 and STM32H723. For this, the original tag
 of btt-skr-3 now has changed to be either btt-skr-3-h743 or btt-skr-3-h723.

docs/Config_Reference.md

@@ -2065,6 +2065,14 @@ in this section (CARRIAGE=0 will return activation to the primary carriage).
 Dual carriage support is typically combined with extra extruders - the
 SET_DUAL_CARRIAGE command is often called at the same time as the
 ACTIVATE_EXTRUDER command. Be sure to park the carriages during deactivation.
+Note that during G28 homing, typically the primary carriage is homed first
+followed by the carriage defined in the `[dual_carriage]` config section.
+However, the `[dual_carriage]` carriage will be homed first if both carriages
+home in a positive direction and the [dual_carriage] carriage has a
+`position_endstop` greater than the primary carriage, or if both carriages home
+in a negative direction and the `[dual_carriage]` carriage has a
+`position_endstop` less than the primary carriage.
+
 Additionally, one could use "SET_DUAL_CARRIAGE CARRIAGE=1 MODE=COPY" or
 "SET_DUAL_CARRIAGE CARRIAGE=1 MODE=MIRROR" commands to activate either copying
 or mirroring mode of the dual carriage, in which case it will follow the

docs/RPi_microcontroller.md

@@ -203,7 +203,7 @@ channels need to be enabled you can use `pwm-2chan`:
 # Enable pwmchip sysfs interface
 dtoverlay=pwm-2chan,pin=12,func=4,pin2=13,func2=4
 ```
-This example additionaly enables PWM1 and routes it to gpio13.
+This example additionally enables PWM1 and routes it to gpio13.
 
 The overlay does not expose the pwm line on sysfs on boot and needs to
 be exported by echo'ing the number of the pwm channel to

docs/Sponsors.md

@@ -6,7 +6,7 @@ sponsors.
 
 ## BIGTREETECH
 
-[<img src="./img/sponsors/BTT_BTT.png" width="200" />](https://bigtree-tech.com/collections/all-products)
+[<img src="./img/sponsors/BTT_BTT.png" width="200" style="margin:25px"/>](https://bigtree-tech.com/collections/all-products)
 
 BIGTREETECH is the official mainboard sponsor of Klipper. BIGTREETECH
 is committed to developing innovative and competitive products to
@@ -16,7 +16,8 @@ serve the 3D printing community better. Follow them on
 
 ## Sponsors
 
-[<img src="./img/sponsors/obico-light-horizontal.png" width="200" />](https://obico.io/klipper.html?source=klipper_sponsor)
+[<img src="./img/sponsors/obico-light-horizontal.png" width="200" style="margin:25px" />](https://obico.io/klipper.html?source=klipper_sponsor)
+[<img src="./img/sponsors/peopoly-logo.png" width="200" style="margin:25px" />](https://peopoly.net)
 
 ## Klipper Developers
 

klippy/chelper/serialqueue.c

@@ -62,6 +62,7 @@ struct serialqueue {
     int ready_bytes, upcoming_bytes, need_ack_bytes, last_ack_bytes;
     uint64_t need_kick_clock;
     struct list_head notify_queue;
+    double last_write_fail_time;
     // Received messages
     struct list_head receive_queue;
     // Fastreader support
@@ -376,8 +377,16 @@ do_write(struct serialqueue *sq, void *buf, int buflen)
         int ret = write(sq->serial_fd, &cf, sizeof(cf));
         if (ret < 0) {
             report_errno("can write", ret);
+            double curtime = get_monotonic();
+            if (!sq->last_write_fail_time) {
+                sq->last_write_fail_time = curtime;
+            } else if (curtime > sq->last_write_fail_time + 10.0) {
+                errorf("Halting reads due to CAN write errors.");
+                pollreactor_do_exit(sq->pr);
+            }
             return;
         }
+        sq->last_write_fail_time = 0.0;
         buf += size;
         buflen -= size;
     }

klippy/kinematics/idex_modes.py

@@ -65,7 +65,13 @@ def toggle_active_dc_rail(self, index, override_rail=False):
         kin.update_limits(self.axis, target_dc.get_rail().get_range())
     def home(self, homing_state):
         kin = self.printer.lookup_object('toolhead').get_kinematics()
-        for i, dc_rail in enumerate(self.dc):
+        enumerated_dcs = list(enumerate(self.dc))
+        if (self.get_dc_order(0, 1) > 0) != \
+                self.dc[0].get_rail().get_homing_info().positive_dir:
+            # The second carriage must home first, because the carriages home in
+            # the same direction and the first carriage homes on the second one
+            enumerated_dcs.reverse()
+        for i, dc_rail in enumerated_dcs:
             self.toggle_active_dc_rail(i, override_rail=True)
             kin.home_axis(homing_state, self.axis, dc_rail.get_rail())
         # Restore the original rails ordering
@@ -78,17 +84,23 @@ def get_kin_range(self, toolhead, mode):
         axes_pos = [dc.get_axis_position(pos) for dc in self.dc]
         dc0_rail = self.dc[0].get_rail()
         dc1_rail = self.dc[1].get_rail()
-        range_min = dc0_rail.position_min
-        range_max = dc0_rail.position_max
+        if mode != PRIMARY or self.dc[0].is_active():
+            range_min = dc0_rail.position_min
+            range_max = dc0_rail.position_max
+        else:
+            range_min = dc1_rail.position_min
+            range_max = dc1_rail.position_max
         safe_dist = self.safe_dist
+        if not safe_dist:
+            return (range_min, range_max)
 
         if mode == COPY:
             range_min = max(range_min,
                             axes_pos[0] - axes_pos[1] + dc1_rail.position_min)
             range_max = min(range_max,
                             axes_pos[0] - axes_pos[1] + dc1_rail.position_max)
         elif mode == MIRROR:
-            if dc0_rail.get_homing_info().positive_dir:
+            if self.get_dc_order(0, 1) > 0:
                 range_min = max(range_min,
                                 0.5 * (sum(axes_pos) + safe_dist))
                 range_max = min(range_max,
@@ -102,14 +114,39 @@ def get_kin_range(self, toolhead, mode):
             # mode == PRIMARY
             active_idx = 1 if self.dc[1].is_active() else 0
             inactive_idx = 1 - active_idx
-            if active_idx:
-                range_min = dc1_rail.position_min
-                range_max = dc1_rail.position_max
-            if self.dc[active_idx].get_rail().get_homing_info().positive_dir:
+            if self.get_dc_order(active_idx, inactive_idx) > 0:
                 range_min = max(range_min, axes_pos[inactive_idx] + safe_dist)
             else:
                 range_max = min(range_max, axes_pos[inactive_idx] - safe_dist)
+        if range_min > range_max:
+            # During multi-MCU homing it is possible that the carriage
+            # position will end up below position_min or above position_max
+            # if position_endstop is too close to the rail motion ends due
+            # to inherent latencies of the data transmission between MCUs.
+            # This can result in an invalid range_min > range_max range
+            # in certain modes, which may confuse the kinematics code.
+            # So, return an empty range instead, which will correctly
+            # block the carriage motion until a different mode is selected
+            # which actually permits carriage motion.
+            return (range_min, range_min)
         return (range_min, range_max)
+    def get_dc_order(self, first, second):
+        if first == second:
+            return 0
+        # Check the relative order of the first and second carriages and
+        # return -1 if the first carriage position is always smaller
+        # than the second one and 1 otherwise
+        first_rail = self.dc[first].get_rail()
+        second_rail = self.dc[second].get_rail()
+        first_homing_info = first_rail.get_homing_info()
+        second_homing_info = second_rail.get_homing_info()
+        if first_homing_info.positive_dir != second_homing_info.positive_dir:
+            # Carriages home away from each other
+            return 1 if first_homing_info.positive_dir else -1
+        # Carriages home in the same direction
+        if first_rail.position_endstop > second_rail.position_endstop:
+            return 1
+        return -1
     def activate_dc_mode(self, index, mode):
         toolhead = self.printer.lookup_object('toolhead')
         toolhead.flush_step_generation()

lib/README

@@ -167,7 +167,7 @@ used to upload firmware to devices flashed with the CanBoot bootloader.
 
 The can2040 directory contains code from:
   https://github.com/KevinOConnor/can2040
-revision d1190afcaa6245c20da28199d06e453d2e743099.
+version v1.6.0 (af3d21e5d61b8408c63fbdfb0aceb21d69d91693)
 
 The Huada HC32F460 directory contains code from:
   https://www.hdsc.com.cn/Category83-1490