Merge branch 'master' into noncritical_mcus_pr

.github/workflows/ci-build_test.yaml

@@ -1,6 +1,8 @@
 # Perform continuous integration tests on updates and pull requests
 name: Build test
+
 on:
+  workflow_dispatch:
   push:
 
 jobs:

.github/workflows/ci-static_analysis.yaml

@@ -1,5 +1,6 @@
 # Perform continuous integration tests on pull requests
 name: black
+
 on: pull_request
 
 jobs:

.github/workflows/klipper3d-deploy.yaml

@@ -1,8 +1,6 @@
 name: klipper3d deploy
 on:
   workflow_dispatch:
-  schedule:
-    - cron: "0 0 * * *"
   push:
     branches:
       - master
@@ -20,7 +18,7 @@ jobs:
         with:
           python-version: '3.8'
 
-      - uses: actions/cache@v2
+      - uses: actions/cache@v3
         with:
           path: ~/.cache/pip
           key: ${{ runner.os }}-pip-${{ hashFiles('docs/_klipper3d/mkdocs-requirements.txt') }}
@@ -34,7 +32,7 @@ jobs:
         run: docs/_klipper3d/build-translations.sh
 
       - name: Deploy
-        uses: JamesIves/github-pages-deploy-action@v4.2.5
+        uses: JamesIves/github-pages-deploy-action@v4.4.3
         with:
           branch: gh-pages # The branch the action should deploy to.
           folder: site # The folder the action should deploy.

.github/workflows/upstream-sync.yaml

@@ -35,7 +35,7 @@ jobs:
 
     steps:
       # Fetch origin/prev_upstream
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           ref: prev_upstream
           path: "repo"
@@ -72,7 +72,7 @@ jobs:
 
       - name: Setup python
         if: ${{ steps.fetch.outputs.new_commits }} == '1'
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: 3.10.3
           cache-dependency-path: scripts/requirements_dev.txt

.gitignore

@@ -8,3 +8,4 @@ klippy/.version
 .DS_Store
 ci_build/
 ci_cache/
+_test_.*

README.md

@@ -1,3 +1,7 @@
+<p align="center"><a href="https://DangerKlippers.github.io/danger-klipper/"><img align="center" src="docs/img/klipper-logo.png" alt="Danger-Klipper Logo"></a></p>
+
+[![Action Status](https://github.com/DangerKlippers/danger-klipper/actions/workflows/ci-build_test.yaml/badge.svg?branch=master)](https://github.com/DangerKlippers/danger-klipper/actions/workflows/ci-build_test.yaml)
+
 Welcome to the Danger Klipper project!
 
 This is a community-maintained fork of the [Klipper](https://github.com/Klipper3d/klipper) firmware.
@@ -24,12 +28,17 @@ Features merged into the master branch:
 
 - [probe: Drop the first result](https://github.com/DangerKlippers/danger-klipper/pull/2) ([klipper#3397](https://github.com/Klipper3d/klipper/issues/3397))
 
+- [probe: z_calibration](https://github.com/DangerKlippers/danger-klipper/pull/31) ([klipper#4614](https://github.com/Klipper3d/klipper/pull/4614) / [protoloft/z_calibration](https://github.com/protoloft/klipper_z_calibration))
 
-"Dangerous Klipper for dangerous users"
+- [core: danger_options](https://github.com/DangerKlippers/danger-klipper/pull/67)
 
-[![Klipper](docs/img/klipper-logo-small.png)](https://DangerKlippers.github.io/danger-klipper/)
+- [stepper: home_current](https://github.com/DangerKlippers/danger-klipper/pull/65)
 
-https://DangerKlippers.github.io/danger-klipper/
+- [homing: post-home retract](https://github.com/DangerKlippers/danger-klipper/pull/65)
+
+- [homing: sensorless minimum home distance](https://github.com/DangerKlippers/danger-klipper/pull/65)
+
+"Dangerous Klipper for dangerous users"
 
 Klipper is a 3d-Printer firmware. It combines the power of a general
 purpose computer with one or more micro-controllers. See the

docs/Config_Reference.md

@@ -73,6 +73,31 @@ pins such as "extra_mcu:ar9" may then be used elsewhere in the config
 [mcu my_extra_mcu]
 # See the "mcu" section for configuration parameters.
 ```
+## ⚠️ Danger Options
+A collection of DangerKlipper-specific system options
+```
+[danger_options]
+
+# If an unused config option or section should cause an error
+# if False, will warn but allow klipper to still run
+error_on_unused_config_options: True
+
+# If statistics should be logged 
+# (helpful for keeping the log clean during development)
+log_statistics: True 
+
+# If the config file should be logged at startup
+log_config_file_at_startup: True 
+
+# If the bed mesh should be logged on startup 
+# (helpful for keeping the log clean during development)
+log_bed_mesh_at_startup: True
+
+# If we should log detailed crash info when an exception occurs
+# Most of it is overly-verbose and fluff and we still get a stack trace
+# for normal exceptions, so setting to False can help save time while developing
+log_shutdown_info: True
+```
 
 ## Common kinematic settings
 
@@ -179,7 +204,9 @@ position_max:
 #   is 5mm/s.
 #homing_retract_dist: 5.0
 #   Distance to backoff (in mm) before homing a second time during
-#   homing. Set this to zero to disable the second home. The default
+#   homing. If `use_sensorless_homing` is false, this setting can be set
+#   to zero to disable the second home. If `use_sensorless_homing` is
+#   true, this setting can be > 0 to backoff after homing. The default
 #   is 5mm.
 #homing_retract_speed:
 #   Speed to use on the retract move after homing in case this should
@@ -194,6 +221,9 @@ position_max:
 #   better to use the default than to specify this parameter. The
 #   default is true if position_endstop is near position_max and false
 #   if near position_min.
+#use_sensorless_homing:
+#   If true, disables the second home action if homing_retract_dist > 0.
+#   The default is true if endstop_pin is configured to use virtual_endstop
 ```
 
 ### Cartesian Kinematics
@@ -2104,6 +2134,89 @@ calibrate_y: 112.5
 #   be near the center of the bed
 ```
 
+### ⚠️ [z_calibration]
+
+Automatic Z offset calibration. One may define this section if the printer
+is able to calibrate the nozzle's offset automatically. See
+[Z-Calibration guide](Z_Calibration.md) and
+[command reference](G-Codes.md#automatic-z-offset-calibration) for further
+information.
+
+```
+[z_calibration]
+nozzle_xy_position:
+#   A X, Y coordinate (e.g. 100,100) of the nozzle, clicking on the Z endstop.
+switch_xy_position:
+#   A X, Y coordinate (e.g. 100,100) of the probe's switch body, clicking on
+#   the Z endstop.
+bed_xy_position: default from relative_reference_index of bed_mesh
+#   a X, Y coordinate (e.g. 100,100) where the print surface (e.g. the center
+#   point) is probed. These coordinates will be adapted by the
+#   probe's X and Y offsets. The default is the relative_reference_index
+#   of the configured bed_mesh, if configured. It's possible to change the relative
+#   reference index at runtime or use the GCode argument BED_POSITION of CALIBRATE_Z.
+switch_offset:
+#   The trigger point offset of the used mag-probe switch.
+#   Larger values will position the nozzle closer to the bed.
+#   This needs to be find out manually. More on this later
+#   in this section..
+max_deviation: 1.0
+#   The maximum allowed deviation of the calculated offset.
+#   If the offset exceeds this value, it will stop!
+#   The default is 1.0 mm.
+samples: default from "probe:samples" section
+#   The number of times to probe each point. The probed z-values
+#   will be averaged. The default is from the probe's configuration.
+samples_tolerance: default from "probe:samples_tolerance" section
+#   The maximum Z distance (in mm) that a sample may differ from other
+#   samples. The default is from the probe's configuration.
+samples_tolerance_retries: default from "probe:samples_tolerance_retries" section
+#   The number of times to retry if a sample is found that exceeds
+#   samples_tolerance. The default is from the probe's configuration.
+samples_result: default from "probe:samples_result" section
+#   The calculation method when sampling more than once - either
+#   "median" or "average". The default is from the probe's configuration.
+clearance: 2 * z_offset from the "probe:z_offset" section
+#   The distance in mm to move up before moving to the next
+#   position. The default is two times the z_offset from the probe's
+#   configuration.
+position_min: default from "stepper_z:position_min" section.
+#   Minimum valid distance (in mm) used for probing move. The
+#   default is from the Z rail configuration.
+speed: 50
+#   The moving speed in X and Y. The default is 50 mm/s.
+lift_speed: default from "probe:lift_speed" section
+#   Speed (in mm/s) of the Z axis when lifting the probe between
+#   samples and clearance moves. The default is from the probe's
+#   configuration.
+probing_speed: default from "stepper_z:homing_speed" section.
+#   The fast probing speed (in mm/s) used, when probing_first_fast
+#   is activated. The default is from the Z rail configuration.
+probing_second_speed: default from "stepper_z:second_homing_speed" section.
+#   The slower speed (in mm/s) for probing the recorded samples.
+#   The default is second_homing_speed of the Z rail configuration.
+probing_retract_dist: default from "stepper_z:homing_retract_dist" section.
+#   Distance to retract (in mm) before probing the next sample.
+#   The default is homing_retract_dist from the Z rail configuration.
+probing_first_fast: false
+#   If true, the first probing is done faster by the probing speed.
+#   This is to get faster down and the result is not recorded as a
+#   probing sample. The default is false.
+start_gcode:
+#   A list of G-Code commands to execute prior to each calibration command.
+#   See docs/Command_Templates.md for G-Code format. This can be used to
+#   attach the probe.
+before_switch_gcode:
+#   A list of G-Code commands to execute prior to each probing on the
+#   mag-probe. See docs/Command_Templates.md for G-Code format. This can be
+#   used to attach the probe after probing on the nozzle and before probing
+#   on the mag-probe.
+end_gcode:
+#   A list of G-Code commands to execute after each calibration command.
+#   See docs/Command_Templates.md for G-Code format. This can be used to
+#   detach the probe afterwards.
+```
+
 ## Additional stepper motors and extruders
 
 ### [stepper_z1]
@@ -3291,6 +3404,9 @@ run_current:
 #   when the stepper is not moving. Setting a hold_current is not
 #   recommended (see TMC_Drivers.md for details). The default is to
 #   not reduce the current.
+#home_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   during homing procedures. The default is to not reduce the current.
 #sense_resistor: 0.110
 #   The resistance (in ohms) of the motor sense resistor. The default
 #   is 0.110 ohms.
@@ -3384,6 +3500,9 @@ run_current:
 #   when the stepper is not moving. Setting a hold_current is not
 #   recommended (see TMC_Drivers.md for details). The default is to
 #   not reduce the current.
+#home_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   during homing procedures. The default is to not reduce the current.
 #sense_resistor: 0.110
 #   The resistance (in ohms) of the motor sense resistor. The default
 #   is 0.110 ohms.
@@ -3427,6 +3546,7 @@ uart_pin:
 #interpolate: True
 run_current:
 #hold_current:
+#home_current:
 #sense_resistor: 0.110
 #stealthchop_threshold: 0
 #   See the "tmc2208" section for the definition of these parameters.
@@ -3495,6 +3615,9 @@ cs_pin:
 run_current:
 #   The amount of current (in amps RMS) used by the driver during
 #   stepper movement. This parameter must be provided.
+#home_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   during homing procedures. The default is to not reduce the current.
 #sense_resistor:
 #   The resistance (in ohms) of the motor sense resistor. This
 #   parameter must be provided.
@@ -3572,6 +3695,9 @@ run_current:
 #   when the stepper is not moving. Setting a hold_current is not
 #   recommended (see TMC_Drivers.md for details). The default is to
 #   not reduce the current.
+#home_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   during homing procedures. The default is to not reduce the current.
 #rref: 12000
 #   The resistance (in ohms) of the resistor between IREF and GND. The
 #   default is 12000.
@@ -3693,6 +3819,9 @@ run_current:
 #   when the stepper is not moving. Setting a hold_current is not
 #   recommended (see TMC_Drivers.md for details). The default is to
 #   not reduce the current.
+#home_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   during homing procedures. The default is to not reduce the current.
 #sense_resistor: 0.075
 #   The resistance (in ohms) of the motor sense resistor. The default
 #   is 0.075 ohms.

docs/G-Codes.md

@@ -916,12 +916,16 @@ in the config file.
 
 #### PID_CALIBRATE
 `PID_CALIBRATE HEATER=<config_name> TARGET=<temperature>
-[WRITE_FILE=1]`: Perform a PID calibration test. The specified heater
-will be enabled until the specified target temperature is reached, and
-then the heater will be turned off and on for several cycles. If the
-WRITE_FILE parameter is enabled, then the file /tmp/heattest.txt will
-be created with a log of all temperature samples taken during the
-test.
+[WRITE_FILE=1] [TOLERANCE=0.02]`: Perform a PID calibration test. The
+specified heater will be enabled until the specified target temperature
+is reached, and then the heater will be turned off and on for several
+cycles. If the WRITE_FILE parameter is enabled, then the file
+/tmp/heattest.csv will be created with a log of all temperature samples
+taken during the test. TOLERANCE defaults to 0.02 if not passed in. The
+tighter the tolerance the better the calibration result will be, but how
+tight you can achieve depends on how clean your sensor readings are. low
+noise readings might allow 0.01, to be used, while noisy reading might
+require a value of 0.03 or higher.
 
 #### SET_HEATER_PID
 `SET_HEATER_PID HEATER=<config_name> KP=<kp> KI=<ki> KD=<kd>`: Will
@@ -1212,7 +1216,7 @@ profile matching the supplied name from persistent memory. Note that
 after SAVE or REMOVE operations have been run the SAVE_CONFIG gcode
 must be run to make the changes to persistent memory permanent.
 
-### [smart_effector]
+### ⚠️ [smart_effector]
 
 Several commands are available when a
 [smart_effector config section](Config_Reference.md#smart_effector) is enabled.
@@ -1397,6 +1401,22 @@ the config. `REF_TEMP` manually overrides the reference temperature typically
 set during homing (for use in e.g. non-standard homing routines) - will be reset
 automatically upon homing.
 
+### ⚠️ [z_calibration]
+
+The following commands are available when a
+[z_calibration config section](Config_Reference.md#z_calibration) is enabled
+(also see the [Z-Calibration guide](Z_Calibration.md)):
+- `CALIBRATE_Z`: This calibrates the current offset between the nozzle and
+  the print surface.
+- `PROBE_Z_ACCURACY [PROBE_SPEED=<mm/s>] [LIFT_SPEED=<mm/s>] [SAMPLES=<count>]
+  [SAMPLE_RETRACT_DIST=<mm>]`: Calculate the maximum, minimum,
+  average, median, and standard deviation of multiple probe
+  samples. By default, 10 SAMPLES are taken. Otherwise the optional
+  parameters default to their equivalent setting in the z_calibration or probe
+  config section.
+*Note* that appropriate macros and/or configurations are needed to attach
+and detach a mag-probe for these commands!
+
 ### [z_tilt]
 
 The following commands are available when the