plus4的klipper版本

2026-01-30 23:48:43 +03:00 · 2024-09-02 13:37:34 +08:00
parent 653d7a8f6e
commit b90736975b
1006 changed files with 1195894 additions and 11114 deletions
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -85,20 +85,25 @@ The printer section controls high level printer settings.
 kinematics:
 #   The type of printer in use. This option may be one of: cartesian,
 #   corexy, corexz, hybrid_corexy, hybrid_corexz, rotary_delta, delta,
-#   polar, winch, or none. This
-#   parameter must be specified.
+#   deltesian, polar, winch, or none. This parameter must be specified.
 max_velocity:
 #   Maximum velocity (in mm/s) of the toolhead (relative to the
-#   print). This parameter must be specified.
+#   print). This value may be changed at runtime using the
+#   SET_VELOCITY_LIMIT command. This parameter must be specified.
 max_accel:
 #   Maximum acceleration (in mm/s^2) of the toolhead (relative to the
-#   print). This parameter must be specified.
+#   print). Although this parameter is described as a "maximum"
+#   acceleration, in practice most moves that accelerate or decelerate
+#   will do so at the rate specified here. The value specified here
+#   may be changed at runtime using the SET_VELOCITY_LIMIT command.
+#   This parameter must be specified.
 #max_accel_to_decel:
 #   A pseudo acceleration (in mm/s^2) controlling how fast the
 #   toolhead may go from acceleration to deceleration. It is used to
 #   reduce the top speed of short zig-zag moves (and thus reduce
-#   printer vibration from these moves). The default is half of
-#   max_accel.
+#   printer vibration from these moves). The value specified here may
+#   be changed at runtime using the SET_VELOCITY_LIMIT command. The
+#   default is half of max_accel.
 #square_corner_velocity: 5.0
 #   The maximum velocity (in mm/s) that the toolhead may travel a 90
 #   degree corner at. A non-zero value can reduce changes in extruder
@@ -108,7 +113,9 @@ max_accel:
 #   larger than 90 degrees will have a higher cornering velocity while
 #   corners with angles less than 90 degrees will have a lower
 #   cornering velocity. If this is set to zero then the toolhead will
-#   decelerate to zero at each corner. The default is 5mm/s.
+#   decelerate to zero at each corner. The value specified here may be
+#   changed at runtime using the SET_VELOCITY_LIMIT command. The
+#   default is 5mm/s.
 ```

 ### [stepper]
@@ -318,6 +325,81 @@ radius:
 #   just prior to starting a probe operation. The default is 5.
 ```

+### Deltesian Kinematics
+
+See [example-deltesian.cfg](../config/example-deltesian.cfg) for an
+example deltesian kinematics config file.
+
+Only parameters specific to deltesian printers are described here - see
+[common kinematic settings](#common-kinematic-settings) for available
+ parameters.
+
+```
+[printer]
+kinematics: deltesian
+max_z_velocity:
+#   For deltesian printers, this limits the maximum velocity (in mm/s) of
+#   moves with z axis movement. This setting can be used to reduce the
+#   maximum speed of up/down moves (which require a higher step rate
+#   than other moves on a deltesian printer). The default is to use
+#   max_velocity for max_z_velocity.
+#max_z_accel:
+#   This sets the maximum acceleration (in mm/s^2) of movement along
+#   the z axis. Setting this may be useful if the printer can reach higher
+#   acceleration on XY moves than Z moves (eg, when using input shaper).
+#   The default is to use max_accel for max_z_accel.
+#minimum_z_position: 0
+#   The minimum Z position that the user may command the head to move
+#   to. The default is 0.
+#min_angle: 5
+#   This represents the minimum angle (in degrees) relative to horizontal
+#   that the deltesian arms are allowed to achieve. This parameter is
+#   intended to restrict the arms from becoming completely horizontal,
+#   which would risk accidental inversion of the XZ axis. The default is 5.
+#print_width:
+#   The distance (in mm) of valid toolhead X coordinates. One may use
+#   this setting to customize the range checking of toolhead moves. If
+#   a large value is specified here then it may be possible to command
+#   the toolhead into a collision with a tower. This setting usually
+#   corresponds to bed width (in mm).
+#slow_ratio: 3
+#   The ratio used to limit velocity and acceleration on moves near the
+#   extremes of the X axis. If vertical distance divided by horizontal
+#   distance exceeds the value of slow_ratio, then velocity and
+#   acceleration are limited to half their nominal values. If vertical
+#   distance divided by horizontal distance exceeds twice the value of
+#   the slow_ratio, then velocity and acceleration are limited to one
+#   quarter of their nominal values. The default is 3.
+
+# The stepper_left section is used to describe the stepper controlling
+# the left tower. This section also controls the homing parameters
+# (homing_speed, homing_retract_dist) for all towers.
+[stepper_left]
+position_endstop:
+#   Distance (in mm) between the nozzle and the bed when the nozzle is
+#   in the center of the build area and the endstops are triggered. This
+#   parameter must be provided for stepper_left; for stepper_right this
+#   parameter defaults to the value specified for stepper_left.
+arm_length:
+#   Length (in mm) of the diagonal rod that connects the tower carriage to
+#   the print head. This parameter must be provided for stepper_left; for
+#   stepper_right, this parameter defaults to the value specified for
+#   stepper_left.
+arm_x_length:
+#   Horizontal distance between the print head and the tower when the
+#   printers is homed. This parameter must be provided for stepper_left;
+#   for stepper_right, this parameter defaults to the value specified for
+#   stepper_left.
+
+# The stepper_right section is used to describe the stepper controlling the
+# right tower.
+[stepper_right]
+
+# The stepper_y section is used to describe the stepper controlling
+# the Y axis in a deltesian robot.
+[stepper_y]
+```
+
 ### CoreXY Kinematics

 See [example-corexy.cfg](../config/example-corexy.cfg) for an example
@@ -892,10 +974,18 @@ Visual Examples:
 #   be applied to change the amount of slope interpolated. Larger
 #   numbers will increase the amount of slope, which results in more
 #   curvature in the mesh. Default is .2.
+#zero_reference_position:
+#   An optional X,Y coordinate that specifies the location on the bed
+#   where Z = 0.  When this option is specified the mesh will be offset
+#   so that zero Z adjustment occurs at this location.  The default is
+#   no zero reference.
 #relative_reference_index:
-#   A point index in the mesh to reference all z values to. Enabling
-#   this parameter produces a mesh relative to the probed z position
-#   at the provided index.
+#   **DEPRECATED, use the "zero_reference_position" option**
+#   The legacy option superceded by the "zero reference position".
+#   Rather than a coordinate this option takes an integer "index" that
+#   refers to the location of one of the generated points. It is recommended
+#   to use the "zero_reference_position" instead of this option for new
+#   configurations. The default is no relative reference index.
 #faulty_region_1_min:
 #faulty_region_1_max:
 #   Optional points that define a faulty region.  See docs/Bed_Mesh.md
@@ -1019,12 +1109,12 @@ information.
 #   The height (in mm) that the head should be commanded to move to
 #   just prior to starting a probe operation. The default is 5.
 #screw_thread: CW-M3
-#   The type of screw used for bed level, M3, M4 or M5 and the
-#   direction of the knob used to level the bed, clockwise decrease
-#   counter-clockwise decrease.
+#   The type of screw used for bed leveling, M3, M4, or M5, and the
+#   rotation direction of the knob that is used to level the bed.
 #   Accepted values: CW-M3, CCW-M3, CW-M4, CCW-M4, CW-M5, CCW-M5.
-#   Default value is CW-M3, most printers use an M3 screw and
-#   turning the knob clockwise decrease distance.
+#   Default value is CW-M3 which most printers use. A clockwise
+#   rotation of the knob decreases the gap between the nozzle and the
+#   bed. Conversely, a counter-clockwise rotation increases the gap.
 ```

 ### [z_tilt]
@@ -1131,6 +1221,45 @@ the nature of skew correction these lengths are set via gcode. See
 [skew_correction]
 ```

+### [z_thermal_adjust]
+
+Temperature-dependant toolhead Z position adjustment. Compensate for vertical
+toolhead movement caused by thermal expansion of the printer's frame in
+real-time using a temperature sensor (typically coupled to a vertical section
+of frame).
+
+See also: [extended g-code commands](G-Codes.md#z_thermal_adjust).
+
+```
+[z_thermal_adjust]
+#temp_coeff:
+#   The temperature coefficient of expansion, in mm/degC. For example, a
+#   temp_coeff of 0.01 mm/degC will move the Z axis downwards by 0.01 mm for
+#   every degree Celsius that the temperature sensor increases. Defaults to
+#   0.0 mm/degC, which applies no adjustment.
+#smooth_time:
+#   Smoothing window applied to the temperature sensor, in seconds. Can reduce
+#   motor noise from excessive small corrections in response to sensor noise.
+#   The default is 2.0 seconds.
+#z_adjust_off_above:
+#   Disables adjustments above this Z height [mm]. The last computed correction
+#   will remain applied until the toolhead moves below the specified Z height
+#   again. The default is 99999999.0 mm (always on).
+#max_z_adjustment:
+#   Maximum absolute adjustment that can be applied to the Z axis [mm]. The
+#   default is 99999999.0 mm (unlimited).
+#sensor_type:
+#sensor_pin:
+#min_temp:
+#max_temp:
+#   Temperature sensor configuration.
+#   See the "extruder" section for the definition of the above
+#   parameters.
+#gcode_id:
+#   See the "heater_generic" section for the definition of this
+#   parameter.
+```
+
 ## Customized homing

 ### [safe_z_home]
@@ -1525,17 +1654,41 @@ cs_pin:
 #   measurements.
 ```

+### [lis2dw]
+
+Support for LIS2DW accelerometers.
+
+```
+[lis2dw]
+cs_pin:
+#   The SPI enable pin for the sensor. This parameter must be provided.
+#spi_speed: 5000000
+#   The SPI speed (in hz) to use when communicating with the chip.
+#   The default is 5000000.
+#spi_bus:
+#spi_software_sclk_pin:
+#spi_software_mosi_pin:
+#spi_software_miso_pin:
+#   See the "common SPI settings" section for a description of the
+#   above parameters.
+#axes_map: x, y, z
+#   See the "adxl345" section for information on this parameter.
+```
+
 ### [mpu9250]

-Support for mpu9250 and mpu6050 accelerometers (one may define any
-number of sections with an "mpu9250" prefix).
+Support for MPU-9250, MPU-9255, MPU-6515, MPU-6050, and MPU-6500
+accelerometers (one may define any number of sections with an
+"mpu9250" prefix).

 ```
 [mpu9250 my_accelerometer]
 #i2c_address:
-#   Default is 104 (0x68).
+#   Default is 104 (0x68). If AD0 is high, it would be 0x69 instead.
 #i2c_mcu:
 #i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
 #i2c_speed: 400000
 #   See the "common I2C settings" section for a description of the
 #   above parameters. The default "i2c_speed" is 400000.
@@ -1835,6 +1988,35 @@ z_offset:
 #   See the "probe" section for more information on the parameters above.
 ```

+### [axis_twist_compensation]
+
+A tool to compensate for inaccurate probe readings due to twist in X gantry. See
+the [Axis Twist Compensation Guide](Axis_Twist_Compensation.md) for more
+detailed information regarding symptoms, configuration and setup.
+
+```
+[axis_twist_compensation]
+#speed: 50
+#   The speed (in mm/s) of non-probing moves during the calibration.
+#   The default is 50.
+#horizontal_move_z: 5
+#   The height (in mm) that the head should be commanded to move to
+#   just prior to starting a probe operation. The default is 5.
+calibrate_start_x: 20
+#   Defines the minimum X coordinate of the calibration
+#   This should be the X coordinate that positions the nozzle at the starting
+#   calibration position. This parameter must be provided.
+calibrate_end_x: 200
+#   Defines the maximum X coordinate of the calibration
+#   This should be the X coordinate that positions the nozzle at the ending
+#   calibration position. This parameter must be provided.
+calibrate_y: 112.5
+#   Defines the Y coordinate of the calibration
+#   This should be the Y coordinate that positions the nozzle during the
+#   calibration process. This parameter must be provided and is recommended to
+#   be near the center of the bed
+```
+
 ## Additional stepper motors and extruders

 ### [stepper_z1]
@@ -1883,14 +2065,32 @@ for an example configuration.

 ### [dual_carriage]

-Support for cartesian printers with dual carriages on a single
-axis. The active carriage is set via the SET_DUAL_CARRIAGE extended
-g-code command. The "SET_DUAL_CARRIAGE CARRIAGE=1" command will
-activate the carriage defined 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.
+Support for cartesian and hybrid_corexy/z printers with dual carriages
+on a single axis. The carriage mode can be set via the
+SET_DUAL_CARRIAGE extended g-code command. For example,
+"SET_DUAL_CARRIAGE CARRIAGE=1" command will activate the carriage defined
+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
+motion of the carriage 0 accordingly. These commands can be used to print
+two parts simultaneously - either two identical parts (in COPY mode) or
+mirrored parts (in MIRROR mode). Note that COPY and MIRROR modes also require
+appropriate configuration of the extruder on the dual carriage, which can
+typically be achieved with
+"SYNC_EXTRUDER_MOTION MOTION_QUEUE=extruder EXTRUDER=<dual_carriage_extruder>"
+or a similar command.

 See [sample-idex.cfg](../config/sample-idex.cfg) for an example
 configuration.
@@ -1900,6 +2100,15 @@ configuration.
 axis:
 #   The axis this extra carriage is on (either x or y). This parameter
 #   must be provided.
+#safe_distance:
+#   The minimum distance (in mm) to enforce between the dual and the primary
+#   carriages. If a G-Code command is executed that will bring the carriages
+#   closer than the specified limit, such a command will be rejected with an
+#   error. If safe_distance is not provided, it will be inferred from
+#   position_min and position_max for the dual and primary carriages. If set
+#   to 0 (or safe_distance is unset and position_min and position_max are
+#   identical for the primary and dual carraiges), the carriages proximity
+#   checks will be disabled.
 #step_pin:
 #dir_pin:
 #enable_pin:
@@ -2144,7 +2353,7 @@ temperature sensors that are reported via the M105 command.

 Klipper includes definitions for many types of temperature sensors.
 These sensors may be used in any config section that requires a
-temperature sensor (such as an `[extruder]` or `[heated_bed]`
+temperature sensor (such as an `[extruder]` or `[heater_bed]`
 section).

 ### Common thermistors
@@ -2239,9 +2448,9 @@ sensor_pin:
 #   name in the above list.
 ```

-### BMP280/BME280/BME680 temperature sensor
+### BMP180/BMP280/BME280/BME680 temperature sensor

-BMP280/BME280/BME680 two wire interface (I2C) environmental sensors.
+BMP180/BMP280/BME280/BME680 two wire interface (I2C) environmental sensors.
 Note that these sensors are not intended for use with extruders and
 heater beds, but rather for monitoring ambient temperature (C),
 pressure (hPa), relative humidity and in case of the BME680 gas level.
@@ -2252,13 +2461,39 @@ temperature.
 ```
 sensor_type: BME280
 #i2c_address:
-#   Default is 118 (0x76). Some BME280 sensors have an address of 119
+#   Default is 118 (0x76). The BMP180 and some BME280 sensors have an address of 119
 #   (0x77).
 #i2c_mcu:
 #i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
+#i2c_speed:
+#   See the "common I2C settings" section for a description of the
+#   above parameters.
+```
+
+### AHT10/AHT20/AHT21 temperature sensor
+
+AHT10/AHT20/AHT21 two wire interface (I2C) environmental sensors.
+Note that these sensors are not intended for use with extruders and
+heater beds, but rather for monitoring ambient temperature (C) and
+relative humidity. See
+[sample-macros.cfg](../config/sample-macros.cfg) for a gcode_macro
+that may be used to report humidity in addition to temperature.
+
+```
+sensor_type: AHT10
+#   Also use AHT10 for AHT20 and AHT21 sensors.
+#i2c_address:
+#   Default is 56 (0x38). Some AHT10 sensors give the option to use
+#   57 (0x39) by moving a resistor.
+#i2c_mcu:
+#i2c_bus:
 #i2c_speed:
 #   See the "common I2C settings" section for a description of the
 #   above parameters.
+#aht10_report_time:
+#   Interval in seconds between readings. Default is 30, minimum is 5
 ```

 ### HTU21D sensor
@@ -2277,6 +2512,8 @@ sensor_type:
 #   Default is 64 (0x40).
 #i2c_mcu:
 #i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
 #i2c_speed:
 #   See the "common I2C settings" section for a description of the
 #   above parameters.
@@ -2310,6 +2547,8 @@ sensor_type: LM75
 #   (usually with jumpers or hard wired).
 #i2c_mcu:
 #i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
 #i2c_speed:
 #   See the "common I2C settings" section for a description of the
 #   above parameters.
@@ -2320,7 +2559,7 @@ sensor_type: LM75

 ### Builtin micro-controller temperature sensor

-The atsam, atsamd, and stm32 micro-controllers contain an internal
+The atsam, atsamd, stm32 and rp2040 micro-controllers contain an internal
 temperature sensor. One can use the "temperature_mcu" sensor to
 monitor these temperatures.

@@ -2381,6 +2620,24 @@ serial_no:
 #   The micro-controller to read from. Must be the host_mcu
 ```

+### Combined temperature sensor
+
+Combined temperature sensor is a virtual temperature sensor based on several other sensors. This sensor can be used with extruders, heater_generic and heater beds.
+
+```
+sensor_type: temperature_combined
+#sensor_list:
+#   Must be provided. List of sensors to combine to new "virtual"
+#   sensor.
+#   E.g. 'temperature_sensor sensor1,extruder,heater_bed'
+#combination_method:
+#   Must be provided. Combination method used for the sensor.
+#   Available options are 'max', 'min', 'mean'.
+#maximum_deviation:
+#   Must be provided. Maximum permissible deviation between the sensors
+#   to combine (e.g. 5 degrees). To disable it, use a large value (e.g. 999.9)
+```
+
 ## Fans

 ### [fan]
@@ -2446,6 +2703,12 @@ pin:
 #   enough for fans below 10000 RPM at 2 PPR. This must be smaller than
 #   30/(tachometer_ppr*rpm), with some margin, where rpm is the
 #   maximum speed (in RPM) of the fan.
+#enable_pin:
+#   Optional pin to enable power to the fan. This can be useful for fans
+#   with dedicated PWM inputs. Some of these fans stay on even at 0% PWM
+#   input. In such a case, the PWM pin can be used normally, and e.g. a
+#   ground-switched FET(standard fan pin) can be used to control power to
+#   the fan.
 ```

 ### [heater_fan]
@@ -2456,7 +2719,7 @@ whenever its associated heater is active. By default, a heater_fan has
 a shutdown_speed equal to max_power.

 ```
-[heater_fan my_nozzle_fan]
+[heater_fan heatbreak_cooling_fan]
 #pin:
 #max_power:
 #shutdown_speed:
@@ -2467,6 +2730,7 @@ a shutdown_speed equal to max_power.
 #tachometer_pin:
 #tachometer_ppr:
 #tachometer_poll_interval:
+#enable_pin:
 #   See the "fan" section for a description of the above parameters.
 #heater: extruder
 #   Name of the config section defining the heater that this fan is
@@ -2503,6 +2767,7 @@ watched component.
 #tachometer_pin:
 #tachometer_ppr:
 #tachometer_poll_interval:
+#enable_pin:
 #   See the "fan" section for a description of the above parameters.
 #fan_speed: 1.0
 #   The fan speed (expressed as a value from 0.0 to 1.0) that the fan
@@ -2548,6 +2813,7 @@ information.
 #tachometer_pin:
 #tachometer_ppr:
 #tachometer_poll_interval:
+#enable_pin:
 #   See the "fan" section for a description of the above parameters.
 #sensor_type:
 #sensor_pin:
@@ -2605,6 +2871,7 @@ with the SET_FAN_SPEED [gcode command](G-Codes.md#fan_generic).
 #tachometer_pin:
 #tachometer_ppr:
 #tachometer_poll_interval:
+#enable_pin:
 #   See the "fan" section for a description of the above parameters.
 ```

@@ -2707,6 +2974,8 @@ PCA9533 LED support. The PCA9533 is used on the mightyboard.
 #   the PCA9533/1, 99 for the PCA9533/2. The default is 98.
 #i2c_mcu:
 #i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
 #i2c_speed:
 #   See the "common I2C settings" section for a description of the
 #   above parameters.
@@ -2728,6 +2997,8 @@ PCA9632 LED support. The PCA9632 is used on the FlashForge Dreamer.
 #   96, 97, 98, or 99.  The default is 98.
 #i2c_mcu:
 #i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
 #i2c_speed:
 #   See the "common I2C settings" section for a description of the
 #   above parameters.
@@ -2864,6 +3135,27 @@ pin:
 #   parameter.
 ```

+### [pwm_tool]
+
+Pulse width modulation digital output pins capable of high speed
+updates (one may define any number of sections with an "output_pin"
+prefix). Pins configured here will be setup as output pins and one may
+modify them at run-time using "SET_PIN PIN=my_pin VALUE=.1" type
+extended [g-code commands](G-Codes.md#output_pin).
+
+```
+[pwm_tool my_tool]
+pin:
+#   The pin to configure as an output. This parameter must be provided.
+#value:
+#shutdown_value:
+#maximum_mcu_duration:
+#cycle_time: 0.100
+#hardware_pwm: False
+#scale:
+#   See the "output_pin" section for the definition of these parameters.
+```
+
 ### [static_digital_output]

 Statically configured digital output pins (one may define any number
@@ -2949,6 +3241,30 @@ run_current:
 #   set, "stealthChop" mode will be enabled if the stepper motor
 #   velocity is below this value. The default is 0, which disables
 #   "stealthChop" mode.
+#driver_MSLUT0: 2863314260
+#driver_MSLUT1: 1251300522
+#driver_MSLUT2: 608774441
+#driver_MSLUT3: 269500962
+#driver_MSLUT4: 4227858431
+#driver_MSLUT5: 3048961917
+#driver_MSLUT6: 1227445590
+#driver_MSLUT7: 4211234
+#driver_W0: 2
+#driver_W1: 1
+#driver_W2: 1
+#driver_W3: 1
+#driver_X1: 128
+#driver_X2: 255
+#driver_X3: 255
+#driver_START_SIN: 0
+#driver_START_SIN90: 247
+#   These fields control the Microstep Table registers directly. The optimal
+#   wave table is specific to each motor and might vary with current. An
+#   optimal configuration will have minimal print artifacts caused by
+#   non-linear stepper movement. The values specified above are the default
+#   values used by the driver. The value must be specified as a decimal integer
+#   (hex form is not supported). In order to compute the wave table fields,
+#   see the tmc2130 "Calculation Sheet" from the Trinamic website.
 #driver_IHOLDDELAY: 8
 #driver_TPOWERDOWN: 0
 #driver_TBL: 1
@@ -3018,6 +3334,7 @@ run_current:
 #   set, "stealthChop" mode will be enabled if the stepper motor
 #   velocity is below this value. The default is 0, which disables
 #   "stealthChop" mode.
+#driver_MULTISTEP_FILT: True
 #driver_IHOLDDELAY: 8
 #driver_TPOWERDOWN: 20
 #driver_TBL: 2
@@ -3059,6 +3376,7 @@ run_current:
 #   The address of the TMC2209 chip for UART messages (an integer
 #   between 0 and 3). This is typically used when multiple TMC2209
 #   chips are connected to the same UART pin. The default is zero.
+#driver_MULTISTEP_FILT: True
 #driver_IHOLDDELAY: 8
 #driver_TPOWERDOWN: 20
 #driver_TBL: 2
@@ -3159,6 +3477,130 @@ run_current:
 #   HDEC) is interpreted as the MSB of HSTRT in this case).
 ```

+### [tmc2240]
+
+Configure a TMC2240 stepper motor driver via SPI bus or UART. To use this
+feature, define a config section with a "tmc2240" prefix followed by
+the name of the corresponding stepper config section (for example,
+"[tmc2240 stepper_x]").
+
+```
+[tmc2240 stepper_x]
+cs_pin:
+#   The pin corresponding to the TMC2240 chip select line. This pin
+#   will be set to low at the start of SPI messages and raised to high
+#   after the message completes. This parameter must be provided.
+#spi_speed:
+#spi_bus:
+#spi_software_sclk_pin:
+#spi_software_mosi_pin:
+#spi_software_miso_pin:
+#   See the "common SPI settings" section for a description of the
+#   above parameters.
+#uart_pin:
+#   The pin connected to the TMC2240 DIAG1/SW line. If this parameter
+#   is provided UART communication is used rather then SPI.
+#chain_position:
+#chain_length:
+#   These parameters configure an SPI daisy chain. The two parameters
+#   define the stepper position in the chain and the total chain length.
+#   Position 1 corresponds to the stepper that connects to the MOSI signal.
+#   The default is to not use an SPI daisy chain.
+#interpolate: True
+#   If true, enable step interpolation (the driver will internally
+#   step at a rate of 256 micro-steps). The default is True.
+run_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   during stepper movement. This parameter must be provided.
+#hold_current:
+#   The amount of current (in amps RMS) to configure the driver to use
+#   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.
+#rref: 12000
+#   The resistance (in ohms) of the resistor between IREF and GND. The
+#   default is 12000.
+#stealthchop_threshold: 0
+#   The velocity (in mm/s) to set the "stealthChop" threshold to. When
+#   set, "stealthChop" mode will be enabled if the stepper motor
+#   velocity is below this value. The default is 0, which disables
+#   "stealthChop" mode.
+#driver_MSLUT0: 2863314260
+#driver_MSLUT1: 1251300522
+#driver_MSLUT2: 608774441
+#driver_MSLUT3: 269500962
+#driver_MSLUT4: 4227858431
+#driver_MSLUT5: 3048961917
+#driver_MSLUT6: 1227445590
+#driver_MSLUT7: 4211234
+#driver_W0: 2
+#driver_W1: 1
+#driver_W2: 1
+#driver_W3: 1
+#driver_X1: 128
+#driver_X2: 255
+#driver_X3: 255
+#driver_START_SIN: 0
+#driver_START_SIN90: 247
+#driver_OFFSET_SIN90: 0
+#   These fields control the Microstep Table registers directly. The optimal
+#   wave table is specific to each motor and might vary with current. An
+#   optimal configuration will have minimal print artifacts caused by
+#   non-linear stepper movement. The values specified above are the default
+#   values used by the driver. The value must be specified as a decimal integer
+#   (hex form is not supported). In order to compute the wave table fields,
+#   see the tmc2130 "Calculation Sheet" from the Trinamic website.
+#   Additionally, this driver also has the OFFSET_SIN90 field which can be used
+#   to tune a motor with unbalanced coils. See the `Sine Wave Lookup Table`
+#   section in the datasheet for information about this field and how to tune
+#   it.
+#driver_MULTISTEP_FILT: True
+#driver_IHOLDDELAY: 6
+#driver_IRUNDELAY: 4
+#driver_TPOWERDOWN: 10
+#driver_TBL: 2
+#driver_TOFF: 3
+#driver_HEND: 2
+#driver_HSTRT: 5
+#driver_FD3: 0
+#driver_TPFD: 4
+#driver_CHM: 0
+#driver_VHIGHFS: 0
+#driver_VHIGHCHM: 0
+#driver_DISS2G: 0
+#driver_DISS2VS: 0
+#driver_PWM_AUTOSCALE: True
+#driver_PWM_AUTOGRAD: True
+#driver_PWM_FREQ: 0
+#driver_FREEWHEEL: 0
+#driver_PWM_GRAD: 0
+#driver_PWM_OFS: 29
+#driver_PWM_REG: 4
+#driver_PWM_LIM: 12
+#driver_SGT: 0
+#driver_SEMIN: 0
+#driver_SEUP: 0
+#driver_SEMAX: 0
+#driver_SEDN: 0
+#driver_SEIMIN: 0
+#driver_SFILT: 0
+#driver_SG4_ANGLE_OFFSET: 1
+#   Set the given register during the configuration of the TMC2240
+#   chip. This may be used to set custom motor parameters. The
+#   defaults for each parameter are next to the parameter name in the
+#   above list.
+#diag0_pin:
+#diag1_pin:
+#   The micro-controller pin attached to one of the DIAG lines of the
+#   TMC2240 chip. Only a single diag pin should be specified. The pin
+#   is "active low" and is thus normally prefaced with "^!". Setting
+#   this creates a "tmc2240_stepper_x:virtual_endstop" virtual pin
+#   which may be used as the stepper's endstop_pin. Doing this enables
+#   "sensorless homing". (Be sure to also set driver_SGT to an
+#   appropriate sensitivity value.) The default is to not enable
+#   sensorless homing.
+```
+
 ### [tmc5160]

 Configure a TMC5160 stepper motor driver via SPI bus. To use this
@@ -3204,6 +3646,31 @@ run_current:
 #   set, "stealthChop" mode will be enabled if the stepper motor
 #   velocity is below this value. The default is 0, which disables
 #   "stealthChop" mode.
+#driver_MSLUT0: 2863314260
+#driver_MSLUT1: 1251300522
+#driver_MSLUT2: 608774441
+#driver_MSLUT3: 269500962
+#driver_MSLUT4: 4227858431
+#driver_MSLUT5: 3048961917
+#driver_MSLUT6: 1227445590
+#driver_MSLUT7: 4211234
+#driver_W0: 2
+#driver_W1: 1
+#driver_W2: 1
+#driver_W3: 1
+#driver_X1: 128
+#driver_X2: 255
+#driver_X3: 255
+#driver_START_SIN: 0
+#driver_START_SIN90: 247
+#   These fields control the Microstep Table registers directly. The optimal
+#   wave table is specific to each motor and might vary with current. An
+#   optimal configuration will have minimal print artifacts caused by
+#   non-linear stepper movement. The values specified above are the default
+#   values used by the driver. The value must be specified as a decimal integer
+#   (hex form is not supported). In order to compute the wave table fields,
+#   see the tmc2130 "Calculation Sheet" from the Trinamic website.
+#driver_MULTISTEP_FILT: True
 #driver_IHOLDDELAY: 6
 #driver_TPOWERDOWN: 10
 #driver_TBL: 2
@@ -3232,6 +3699,10 @@ run_current:
 #driver_SEDN: 0
 #driver_SEIMIN: 0
 #driver_SFILT: 0
+#driver_DRVSTRENGTH: 0
+#driver_BBMCLKS: 4
+#driver_BBMTIME: 0
+#driver_FILT_ISENSE: 0
 #   Set the given register during the configuration of the TMC5160
 #   chip. This may be used to set custom motor parameters. The
 #   defaults for each parameter are next to the parameter name in the
@@ -3302,6 +3773,8 @@ i2c_address:
 #   parameter must be provided.
 #i2c_mcu:
 #i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
 #i2c_speed:
 #   See the "common I2C settings" section for a description of the
 #   above parameters.
@@ -3338,6 +3811,8 @@ prefix).
 #   is 96.
 #i2c_mcu:
 #i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
 #i2c_speed:
 #   See the "common I2C settings" section for a description of the
 #   above parameters.
@@ -3608,6 +4083,8 @@ lcd_type:
 #   Set to either "ssd1306" or "sh1106" for the given display type.
 #i2c_mcu:
 #i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
 #i2c_speed:
 #   Optional parameters available for displays connected via an i2c
 #   bus. See the "common I2C settings" section for a description of
@@ -3952,6 +4429,9 @@ adc2:
 #   command.
 #min_diameter: 1.0
 #   Minimal diameter for trigger virtual filament_switch_sensor.
+#max_diameter:
+#   Maximum diameter for triggering virtual filament_switch_sensor.
+#   The default is default_nominal_filament_diameter + max_difference.
 #use_current_dia_while_delay: False
 #   Use the current diameter instead of the nominal diameter while
 #   the measurement delay has not run through.
@@ -3988,13 +4468,11 @@ i2c_address:
 #   113. This parameter must be provided.
 #i2c_mcu:
 #i2c_bus:
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
 #i2c_speed:
 #   See the "common I2C settings" section for a description of the
 #   above parameters.
-#i2c_bus:
-#   If the I2C implementation of your micro-controller supports
-#   multiple I2C busses, you may specify the bus name here. The
-#   default is to use the default micro-controller i2c bus.
 ```

 ### [samd_sercom]
@@ -4151,7 +4629,7 @@ serial:
 #auto_load_speed: 2
 #   Extrude feedrate when autoloading, default is 2 (mm/s)
 #auto_cancel_variation: 0.1
-#   Auto cancel print when ping varation is above this threshold
+#   Auto cancel print when ping variation is above this threshold
 ```

 ### [angle]
@@ -4217,20 +4695,20 @@ SPI bus.
 The following parameters are generally available for devices using an
 I2C bus.

-Note that Klipper's current micro-controller support for i2c is
-generally not tolerant to line noise. Unexpected errors on the i2c
+Note that Klipper's current micro-controller support for I2C is
+generally not tolerant to line noise. Unexpected errors on the I2C
 wires may result in Klipper raising a run-time error. Klipper's
 support for error recovery varies between each micro-controller type.
-It is generally recommended to only use i2c devices that are on the
+It is generally recommended to only use I2C devices that are on the
 same printed circuit board as the micro-controller.

 Most Klipper micro-controller implementations only support an
-`i2c_speed` of 100000. The Klipper "linux" micro-controller supports a
-400000 speed, but it must be
+`i2c_speed` of 100000 (*standard mode*, 100kbit/s). The Klipper "Linux"
+micro-controller supports a 400000 speed (*fast mode*, 400kbit/s), but it must be
 [set in the operating system](RPi_microcontroller.md#optional-enabling-i2c)
 and the `i2c_speed` parameter is otherwise ignored. The Klipper
-"rp2040" micro-controller supports a rate of 400000 via the
-`i2c_speed` parameter. All other Klipper micro-controllers use a
+"RP2040" micro-controller and ATmega AVR family support a rate of 400000
+via the `i2c_speed` parameter. All other Klipper micro-controllers use a
 100000 rate and ignore the `i2c_speed` parameter.

 ```
@@ -4244,9 +4722,16 @@ and the `i2c_speed` parameter is otherwise ignored. The Klipper
 #   If the micro-controller supports multiple I2C busses then one may
 #   specify the micro-controller bus name here. The default depends on
 #   the type of micro-controller.
+#i2c_software_scl_pin:
+#i2c_software_sda_pin:
+#   Specify these parameters to use micro-controller software based
+#   I2C "bit-banging" support. The two parameters should the two pins
+#   on the micro-controller to use for the scl and sda wires. The
+#   default is to use hardware based I2C support as specified by the
+#   i2c_bus parameter.
 #i2c_speed:
 #   The I2C speed (in Hz) to use when communicating with the device.
 #   The Klipper implementation on most micro-controllers is hard-coded
 #   to 100000 and changing this value has no effect. The default is
-#   100000.
+#   100000. Linux, RP2040 and ATmega support 400000.
 ```