.

docs/Config_Reference.md

@@ -188,12 +188,29 @@ position_max:
 #second_homing_speed:
 #   Velocity (in mm/s) of the stepper when performing the second home.
 #   The default is homing_speed/2.
+#homing_resting_retract_dist:
+#   Distance to back off after successfully homing, the default is
+#   homing_retract_dist.
+#homing_resting_retract_speed:
+#   Velocity (in mm/s) of the stepper when retracting after successfully
+#   homing, the default is homing_retract_speed
 #homing_positive_dir:
 #   If true, homing will cause the stepper to move in a positive
 #   direction (away from zero); if false, home towards zero. It is
 #   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.
+#disable_on_error: False
+#   Experimental feature to disable the steppers when the mcu looses
+#   connection to the host.
+#   If one stepper is set to true, the feature will be enabled for all
+#   steppers. (I currently have no idea how to modify the mcu firmware
+#   code to have the feature enabled individually)
+#   Currently this feature can also cause problems when disabling steppers
+#   and cause the firmware to shut down due to race-conditions.
+#   Even though this happens very very rarely, use this feature at your own
+#   risk (While the steppers are on, no problems occur, only when disabling,
+#   very rarely an error occurs)
 ```
 
 ### Cartesian Kinematics
@@ -947,6 +964,12 @@ max_temp:
 #   heater and sensor hardware failures. Set this range just wide
 #   enough so that reasonable temperatures do not result in an error.
 #   These parameters must be provided.
+#max_set_temp:
+#   The maximum temperature that can be requested. Usefull for heaters
+#   that have a large overshoot (e.g. max_temp is set to 280 but the heater
+#   overshoots by 10 you would set max_set_temp to 265 so you can only
+#   request 265 so when the heater overshoots it will not trigger a shutdown).
+#   The default is max_temp
 ```
 
 ### [heater_bed]
@@ -962,6 +985,7 @@ sensor_pin:
 control:
 min_temp:
 max_temp:
+#max_set_temp:
 #   See the "extruder" section for a description of the above parameters.
 ```
 
@@ -1351,6 +1375,7 @@ See also: [extended g-code commands](G-Codes.md#z_thermal_adjust).
 #sensor_pin:
 #min_temp:
 #max_temp:
+#max_set_temp:
 #   Temperature sensor configuration.
 #   See the "extruder" section for the definition of the above
 #   parameters.
@@ -1593,10 +1618,20 @@ using this feature may place the printer in an invalid state - see the
 ```
 [force_move]
 #enable_force_move: False
-#   Set to true to enable FORCE_MOVE and SET_KINEMATIC_POSITION
+#   Set to true to enable FORCE_MOVE, SET_KINEMATIC_POSITION
+#   and MARK_AS_HOMED.
 #   extended G-Code commands. The default is false.
 ```
 
+### [unhome]
+
+Mark different axes as unhomed without disabling the steppers, usefull
+for really advanced macros.
+
+```
+[unhome]
+```
+
 ### [pause_resume]
 
 Pause/Resume functionality with support of position capture and

docs/G-Codes.md

@@ -9,7 +9,7 @@ Klipper supports the following standard G-Code commands:
 - Move (G0 or G1): `G1 [X<pos>] [Y<pos>] [Z<pos>] [E<pos>] [F<speed>]`
 - Dwell: `G4 P<milliseconds>`
 - Move to origin: `G28 [X] [Y] [Z]`
-- Turn off motors: `M18` or `M84`
+- Turn off motors: `M18 [X] [Y] [Z] [E]` or `M84 [X] [Y] [Z] [E]`
 - Wait for current moves to finish: `M400`
 - Use absolute/relative distances for extrusion: `M82`, `M83`
 - Use absolute/relative coordinates: `G90`, `G91`
@@ -491,20 +491,29 @@ status of the filament sensor. The data displayed on the terminal will
 depend on the sensor type defined in the configuration.
 
 #### SET_FILAMENT_SENSOR
+###### For filament_switch_sensor:
 `SET_FILAMENT_SENSOR SENSOR=<sensor_name> [ENABLE=0|1] [RESET=0|1]
-[DETECTION_LENGTH=<mm>] [RUNOUT_DISTANCE=<mm>]`: Sets values for the
+[RUNOUT_DISTANCE=<mm>]`: Sets values for the
 filament sensor.  If all parameters are omitted, the current stats will
-be reported.
+be reported. <br>
 ENABLE sets the filament sensor on/off. If ENABLE is set to 0, the
-filament sensor will be disabled, if set to 1 it is enabled.
-DETECTION_LENGTH is only usable on filament_motion_sensors while
-RUNOUT_DISTANCE is only valid for a filament_switch_sensor.
-RESET will remove all pending runout_gcodes (if runout_distance is higher
-than 0) for a switch sensor and reset the states of a motion sensor while
-setting it to filament detected.
-ENABLE will trigger a reset if it changes the enabled state of the sensor.
-DETECTION_LENGTH will trigger a reset of the sensor of the detection
-length changes.
+filament sensor will be disabled, if set to 1 it is enabled. If the state
+of the sensor changes, a reset will be triggered. <br>
+RESET removes all pending runout_gcodes and pauses and force a reevaluation
+of the sensor state. <br>
+RUNOUT_DISTANCE sets the runout_distance.
+
+###### For filament_motion_sensor:
+`SET_FILAMENT_SENSOR SENSOR=<sensor_name> [ENABLE=0|1] [RESET=0|1]
+[DETECTION_LENGTH=<mm>]`: Sets values for the
+filament sensor.  If all parameters are omitted, the current stats will
+be reported. <br>
+ENABLE sets the filament sensor on/off. If ENABLE is set to 0, the
+filament sensor will be disabled, if set to 1 it is enabled. If the sensor
+was previously disabled and gets enabled, a reset will be triggered. <br>
+RESET resets the state of the sensor and sets it to filament detected. <br>
+DETECTION_LENGTH sets the detection_length, if the new detection length is
+different than the old one, a reset will be triggered.
 
 ### [firmware_retraction]
 
@@ -575,6 +584,24 @@ may lead to internal software errors. This command may invalidate
 future boundary checks; issue a G28 afterwards to reset the
 kinematics.
 
+#### MARK_AS_HOMED
+`MARK_AS_HOMED [AXES=X,Y,Z]`: Marks the given axes as homed, if AXES
+is omitted, all axes will be marked as homed.
+!!!USE WITH CAUTION!!!
+
+### [unhome]
+
+If the [unhome config section](Config_Reference.md#unhome) is enabled,
+the following command will be available.
+
+#### MARK_AS_UNHOMED
+`MARK_AS_UNHOMED [AXES=X,Y,Z]`: Marks the given axes as unhomed, if AXES
+is omitted, all axes will be marked as unhomed.
+
+#### D28
+`D28 [X] [Y] [Z]`: Same as MARK_AS_UNHOMED
+
+
 ### [gcode]
 
 The gcode module is automatically loaded.
@@ -930,9 +957,9 @@ in the config file.
 
 #### PID_CALIBRATE
 `PID_CALIBRATE HEATER=<config_name> TARGET=<temperature> [TOLERANCE=<tolerance>]
-[WRITE_FILE=1] [PROFILE=<profile_name>]`: 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
+[WRITE_FILE=1] [TUNE_PID_DELTA=<delta>] [PROFILE=<profile_name>]`: 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. TOLERANCE defaults to 0.02 if not passed in. The

klippy/extras/filament_motion_sensor.py

@@ -86,7 +86,7 @@ def set_filament_sensor(self, gcmd):
             gcmd.respond_info(self.get_sensor_status())
             return
         if enable is not None:
-            if enable != self.runout_helper.sensor_enabled:
+            if enable and not self.runout_helper.sensor_enabled:
                 reset = 1
             self.runout_helper.sensor_enabled = enable
         if detection_length is not None:

klippy/extras/stepper_enable.py

@@ -68,7 +68,7 @@ def _resend_current_val(self, eventtime):
         return systime + self.resend_interval
 
 
-def setup_enable_pin(printer, pin, disable_on_error=True):
+def setup_enable_pin(printer, pin, disable_on_error=False):
     if pin is None:
         # No enable line (stepper always enabled)
         enable = StepperEnablePin(None, 9999, printer)
@@ -139,7 +139,7 @@ def register_stepper(self, config, mcu_stepper):
         enable = setup_enable_pin(self.printer,
                                   config.get('enable_pin', None),
                                   config.getboolean('disable_on_error',
-                                                    True))
+                                                    False))
         self.enable_lines[name] = EnableTracking(mcu_stepper, enable)
     def stepper_off(self, stepper_name, print_time, rail_name):
         el = self.enable_lines[stepper_name]

klippy/stepper.py

@@ -345,7 +345,7 @@ def __init__(self, config, need_position_minmax=True,
         self.homing_retract_dist = config.getfloat(
             'homing_retract_dist', 5., minval=0.)
         self.homing_resting_retract_speed = config.getfloat(
-            'homing_resting_retract_speed', self.homing_speed, above=0.)
+            'homing_resting_retract_speed', self.homing_retract_speed, above=0.)
         self.homing_resting_retract_dist = config.getfloat(
             'homing_resting_retract_dist', self.homing_retract_dist, minval=0.)
         self.homing_positive_dir = config.getboolean(