### Setup OctoPrint Service

Source: https://github.com/klipper3d/klipper/blob/master/docs/Beaglebone.md

Copy OctoPrint init scripts and configure them to start automatically on boot.

```bash
sudo cp ~/OctoPrint/scripts/octoprint.init /etc/init.d/octoprint
sudo chmod +x /etc/init.d/octoprint
sudo cp ~/OctoPrint/scripts/octoprint.default /etc/default/octoprint
sudo update-rc.d octoprint defaults
```

--------------------------------

### Install OctoPrint

Source: https://github.com/klipper3d/klipper/blob/master/docs/Beaglebone.md

Clone the OctoPrint repository, set up a virtual environment, and install it.

```bash
git clone https://github.com/foosel/OctoPrint.git
cd OctoPrint/
virtualenv venv
./venv/bin/python setup.py install
```

--------------------------------

### Run Klipper simulation with simulavr

Source: https://github.com/klipper3d/klipper/blob/master/docs/Debugging.md

Start the simulavr simulation of Klipper. Set the PYTHONPATH if the Python module is not installed system-wide.

```bash
PYTHONPATH=/path/to/simulavr/build/pysimulavr/ ./scripts/avrsim.py out/klipper.elf
```

```bash
./scripts/avrsim.py out/klipper.elf
```

--------------------------------

### Install Git on Host Device

Source: https://github.com/klipper3d/klipper/blob/master/docs/OctoPrint.md

Use this command to install git if it is not already present on your host device.

```bash
sudo apt install git
```

--------------------------------

### Install can-utils

Source: https://github.com/klipper3d/klipper/blob/master/docs/CANBUS_Troubleshooting.md

Installs the necessary tools for capturing CAN bus traffic. Run this command on your host machine.

```bash
sudo apt-get update && sudo apt-get install can-utils
```

--------------------------------

### Install Klipper

Source: https://github.com/klipper3d/klipper/blob/master/docs/Beaglebone.md

Clone the Klipper repository and run the installation script specifically designed for BeagleBone.

```bash
git clone https://github.com/Klipper3d/klipper.git
./klipper/scripts/install-beaglebone.sh
```

--------------------------------

### Clone Klipper and Install OctoPi Script

Source: https://github.com/klipper3d/klipper/blob/master/docs/OctoPrint.md

After installing git, clone the Klipper repository and execute the installation script for OctoPi. This process downloads Klipper, sets up system dependencies, and configures Klipper to run at startup.

```bash
cd ~
git clone https://github.com/Klipper3d/klipper
./klipper/scripts/install-octopi.sh
```

--------------------------------

### Install HID Flash Utility

Source: https://github.com/klipper3d/klipper/blob/master/docs/Bootloaders.md

Commands to install the necessary library and compile the hid-flash utility for uploading binaries to the HID bootloader.

```bash
sudo apt install libusb-1.0
cd ~/klipper/lib/hidflash
make
```

--------------------------------

### Start OctoPrint Service

Source: https://github.com/klipper3d/klipper/blob/master/docs/Beaglebone.md

Start the OctoPrint service using systemctl and verify accessibility via the web interface.

```bash
sudo systemctl start octoprint
```

--------------------------------

### Install simulavr on Debian-based systems

Source: https://github.com/klipper3d/klipper/blob/master/docs/Debugging.md

Install necessary packages and build debian packages for system-wide installation of simulavr on Debian-based systems.

```bash
sudo apt update
sudo apt install g++ make cmake swig rst2pdf help2man texinfo
make cfgclean python debian
sudo dpkg -i build/debian/python3-simulavr*.deb
```

--------------------------------

### Install and Compile OpenOCD

Source: https://github.com/klipper3d/klipper/blob/master/docs/Bootloaders.md

Installs necessary dependencies, clones the OpenOCD repository, and compiles it with RPi GPIO support. This process can take a significant amount of time.

```bash
sudo apt-get update
sudo apt-get install autoconf libtool telnet
mkdir ~/openocd
cd ~/openocd/
git clone http://openocd.zylin.com/openocd
cd openocd
./bootstrap
./configure --enable-sysfsgpio --enable-bcm2835gpio --prefix=/home/pi/openocd/install
make
make install
```

--------------------------------

### Configure and Install Linux Host Firmware

Source: https://github.com/klipper3d/klipper/blob/master/docs/Beaglebone.md

Configure Klipper a second time for a 'Linux process' and then install the micro-controller code for the host. This ensures the host MCU is set up correctly.

```bash
make menuconfig
```

```bash
sudo service klipper stop
make flash
sudo service klipper start
```

--------------------------------

### Copy and Edit Klipper Configuration

Source: https://github.com/klipper3d/klipper/blob/master/docs/Installation.md

Use these commands to copy an example configuration file and open it for editing.

```bash
cp ~/klipper/config/example-cartesian.cfg ~/printer.cfg
nano ~/printer.cfg
```

--------------------------------

### Install Resonance Measurement Dependencies

Source: https://github.com/klipper3d/klipper/blob/master/docs/Measuring_Resonances.md

Installs Python libraries required for resonance measurements on a Raspberry Pi. Ensure you have sufficient RAM or enable swap if installation fails.

```bash
sudo apt update
sudo apt install python3-numpy python3-matplotlib libatlas-base-dev libopenblas-dev
```

```bash
~/klippy-env/bin/pip install -v "numpy<1.26"
```

```bash
~/klippy-env/bin/python -c 'import numpy;'
```

--------------------------------

### Example Dual Carriage and Stepper Configuration

Source: https://github.com/klipper3d/klipper/blob/master/docs/Config_Reference.md

Illustrates the configuration of multiple carriages and a stepper motor for a dual carriage system. This setup is essential for defining how the dual carriage is controlled and synchronized.

```cfg
[carriage carriage_x]
...

[carriage carriage_y]
...

[dual_carriage carriage_u]
primary_carriage: carriage_x
...

[stepper dc_stepper]
carriages: carriage_u-carriage_y
...
```

--------------------------------

### Save Variable Example

Source: https://github.com/klipper3d/klipper/blob/master/docs/Command_Templates.md

Demonstrates saving the current extruder state to a variable and recalling it on print start. Ensure the save_variables config section is enabled.

```yaml
[gcode_macro T1]
gcode:
  ACTIVATE_EXTRUDER extruder=extruder1
  SAVE_VARIABLE VARIABLE=currentextruder VALUE='"extruder1"'

[gcode_macro T0]
gcode:
  ACTIVATE_EXTRUDER extruder=extruder
  SAVE_VARIABLE VARIABLE=currentextruder VALUE='"extruder"'

[gcode_macro START_GCODE]
gcode:
  {% set svv = printer.save_variables.variables %}
  ACTIVATE_EXTRUDER extruder={svv.currentextruder}
```

--------------------------------

### Round Bed Mesh Configuration Example

Source: https://github.com/klipper3d/klipper/blob/master/docs/Config_Reference.md

This example shows the probe point distribution for a round bed with a round_probe_count of 5 and a bed_radius 'r'.

```cfg
 round bed, round_probe_count = 5, bed_radius = r:
                 x (0, r) end
               /
             x---x---x
                       \
 (-r, 0) x---x---x---x---x (r, 0)
           \
             x---x---x
                   /
                 x  (0, -r) start
```

--------------------------------

### Manual Stepper Configuration Example

Source: https://github.com/klipper3d/klipper/blob/master/docs/Config_Reference.md

This is an example configuration for a manual stepper. It includes commented-out parameters for step, direction, and enable pins, microsteps, rotation distance, velocity, acceleration, endstop pin, and position limits.

```ini
[manual_stepper my_stepper]
#step_pin:
#dir_pin:
#enable_pin:
#microsteps:
#rotation_distance:
#   See the "stepper" section for a description of these parameters.
#velocity:
#   Set the default velocity (in mm/s) for the stepper. This value
#   will be used if a MANUAL_STEPPER command does not specify a SPEED
#   parameter. The default is 5mm/s.
#accel:
#   Set the default acceleration (in mm/s^2) for the stepper. An
#   acceleration of zero will result in no acceleration. This value
#   will be used if a MANUAL_STEPPER command does not specify an ACCEL
#   parameter. The default is zero.
#endstop_pin:
#   Endstop switch detection pin. If specified, then one may perform
#   "homing moves" by adding a STOP_ON_ENDSTOP parameter to
#   MANUAL_STEPPER movement commands.
#position_min:
#position_max:
#   The minimum and maximum position the stepper can be commanded to
#   move to. If specified then one may not command the stepper to move
#   past the given position. Note that these limits do not prevent
#   setting an arbitrary position with the `MANUAL_STEPPER
#   SET_POSITION=x` command. The default is to not enforce a limit.

```

--------------------------------

### Install Linux GPIO Character Device Tools

Source: https://github.com/klipper3d/klipper/blob/master/docs/RPi_microcontroller.md

Install the necessary tools for interacting with the Linux GPIO character device on Debian-based systems like OctoPi.

```bash
sudo apt-get install gpiod
```

--------------------------------

### Example Output of calibrate_shaper.py

Source: https://github.com/klipper3d/klipper/blob/master/docs/Measuring_Resonances.md

This is an example of the output generated by the `calibrate_shaper.py` script, showing fitted shaper frequencies, vibration percentages, smoothing values, and recommended shaper configurations.

```text
Fitted shaper 'zv' frequency = 34.4 Hz (vibrations = 4.0%, smoothing ~= 0.132)
To avoid too much smoothing with 'zv', suggested max_accel <= 4500 mm/sec^2
Fitted shaper 'mzv' frequency = 34.6 Hz (vibrations = 0.0%, smoothing ~= 0.170)
To avoid too much smoothing with 'mzv', suggested max_accel <= 3500 mm/sec^2
Fitted shaper 'ei' frequency = 41.4 Hz (vibrations = 0.0%, smoothing ~= 0.188)
To avoid too much smoothing with 'ei', suggested max_accel <= 3200 mm/sec^2
Fitted shaper '2hump_ei' frequency = 51.8 Hz (vibrations = 0.0%, smoothing ~= 0.201)
To avoid too much smoothing with '2hump_ei', suggested max_accel <= 3000 mm/sec^2
Fitted shaper '3hump_ei' frequency = 61.8 Hz (vibrations = 0.0%, smoothing ~= 0.215)
To avoid too much smoothing with '3hump_ei', suggested max_accel <= 2800 mm/sec^2
Recommended shaper is mzv @ 34.6 Hz
```

--------------------------------

### Apply Z Axis Shaper Parameters (Example 1)

Source: https://github.com/klipper3d/klipper/blob/master/docs/Measuring_Resonances.md

Store recommended shaper type and frequency for the Z axis in `printer.cfg` after successful calibration.

```ini
[input_shaper]
... 
shaper_type_z: mzv
shaper_freq_z: 42.6
```

--------------------------------

### Bed Mesh Configuration Example

Source: https://github.com/klipper3d/klipper/blob/master/docs/Config_Reference.md

The bed_mesh section enables mesh bed leveling. This example illustrates the probe point distribution for a rectangular bed with a probe_count of 3x3.

```cfg
 rectangular bed, probe_count = 3, 3:
             x---x---x (max_point)
             |
             x---x---x
                     |
 (min_point) x---x---x
```

--------------------------------

### Klipper API Gcode Script Request Example

Source: https://github.com/klipper3d/klipper/blob/master/docs/API_Server.md

An example of a request to execute a G-code script. This demonstrates the 'gcode/script' method with a 'script' parameter.

```json
{"id": 123, "method": "gcode/script", "params": {"script": "G1
X200"}}
```

--------------------------------

### Calculate Example Shaper Frequency X

Source: https://github.com/klipper3d/klipper/blob/master/docs/Resonance_Compensation.md

Example calculation for tuning tower parameters and the resulting shaper frequency. Assumes an initial measured frequency of 45 Hz.

```shell
# Example calculation:
# start = 45 * 83 / 132 = 28.30
# factor = 45 / 66 = 0.6818
# After printing, if band 4 shows least ringing:
# new_shaper_freq_x = 45 * (39 + 5 * 4) / 66 ≈ 40.23
```

--------------------------------

### Check Accelerometer Connection

Source: https://github.com/klipper3d/klipper/blob/master/docs/Measuring_Resonances.md

Example output from the ACCELEROMETER_QUERY command, showing the measured acceleration values on the x, y, and z axes.

```text
Recv: // adxl345 values (x, y, z): 470.719200, 941.438400, 9728.196800

```

--------------------------------

### Configure MCU Baud Rate

Source: https://github.com/klipper3d/klipper/blob/master/docs/FAQ.md

Example configuration snippet for the Klipper printer.cfg file to set the baud rate for the MCU. The recommended rate is 250000.

```ini
[mcu]
baud: 250000
```

--------------------------------

### LOAD_CELL_CALIBRATE

Source: https://github.com/klipper3d/klipper/blob/master/docs/G-Codes.md

Starts the guided calibration utility for a load cell.

```APIDOC
## LOAD_CELL_CALIBRATE

### Description
Starts a guided 3-step calibration process for the load cell, involving TARE, CALIBRATE GRAMS, and ACCEPT commands.

### Method
`LOAD_CELL_CALIBRATE`

### Parameters
- **LOAD_CELL** (string) - Optional - The name of the load cell configuration.
```

--------------------------------

### Configure BLTouch Probe

Source: https://github.com/klipper3d/klipper/blob/master/docs/Config_Reference.md

Use this section to enable and configure a BLTouch probe. Ensure the sensor_pin and control_pin are correctly set. Refer to the BLTouch guide for detailed setup.

```ini
[bltouch]
sensor_pin:
#   Pin connected to the BLTouch sensor pin. Most BLTouch devices
#   require a pullup on the sensor pin (prefix the pin name with "^").
#   This parameter must be provided.
control_pin:
#   Pin connected to the BLTouch control pin. This parameter must be
#   provided.
#pin_move_time: 0.680
#   The amount of time (in seconds) to wait for the BLTouch pin to
#   move up or down. The default is 0.680 seconds.
#stow_on_each_sample: True
#   This determines if Klipper should command the pin to move up
#   between each probe attempt when performing a multiple probe
#   sequence. Read the directions in docs/BLTouch.md before setting
#   this to False. The default is True.
#probe_with_touch_mode: False
#   If this is set to True then Klipper will probe with the device in
#   "touch_mode". The default is False (probing in "pin_down" mode).
#pin_up_reports_not_triggered: True
#   Set if the BLTouch consistently reports the probe in a "not
#   triggered" state after a successful "pin_up" command. This should
#   be True for all genuine BLTouch devices. Read the directions in
#   docs/BLTouch.md before setting this to False. The default is True.
#pin_up_touch_mode_reports_triggered: True
#   Set if the BLTouch consistently reports a "triggered" state after
#   the commands "pin_up" followed by "touch_mode". This should be
#   True for all genuine BLTouch devices. Read the directions in
#   docs/BLTouch.md before setting this to False. The default is True.
#set_output_mode:
#   Request a specific sensor pin output mode on the BLTouch V3.0 (and
#   later). This setting should not be used on other types of probes.
#   Set to "5V" to request a sensor pin output of 5 Volts (only use if
#   the controller board needs 5V mode and is 5V tolerant on its input
#   signal line). Set to "OD" to request the sensor pin output use
#   open drain mode. The default is to not request an output mode.
#x_offset:
#y_offset:
#z_offset:
#speed:
#lift_speed:
#samples:
#sample_retract_dist:
#samples_result:
#samples_tolerance:
#samples_tolerance_retries:
#   See the "probe" section for information on these parameters.
```

--------------------------------

### Adjust Bed Leveling Screws

Source: https://github.com/klipper3d/klipper/blob/master/docs/Manual_Level.md

Execute this command to start the automated bed leveling screw adjustment tool. The tool will guide you through adjusting each screw using the 'paper test'.

```shell
BED_SCREWS_ADJUST
```

--------------------------------

### Verify PRU Firmware Installation

Source: https://github.com/klipper3d/klipper/blob/master/docs/Beaglebone.md

Check the system logs after flashing the PRU firmware to confirm that the PRU cores have started properly. Look for messages indicating remoteproc and virtio devices.

```bash
dmesg
```

--------------------------------

### Example GPIO Detection and Information on RPi 3B+

Source: https://github.com/klipper3d/klipper/blob/master/docs/RPi_microcontroller.md

Demonstrates the output of `gpiodetect` and `gpioinfo` on an RPi 3B+, showing available GPIO chips and pin usage. Note that only lines marked as 'unused' can be utilized by Klipper.

```bash
$ gpiodetect
gpiochip0 [pinctrl-bcm2835] (54 lines)
gpiochip1 [raspberrypi-exp-gpio] (8 lines)

$ gpioinfo
gpiochip0 - 54 lines:
        line   0:      unnamed       unused   input  active-high
        line   1:      unnamed       unused   input  active-high
        line   2:      unnamed       unused   input  active-high
        line   3:      unnamed       unused   input  active-high
        line   4:      unnamed       unused   input  active-high
        line   5:      unnamed       unused   input  active-high
        line   6:      unnamed       unused   input  active-high
        line   7:      unnamed       unused   input  active-high
        line   8:      unnamed       unused   input  active-high
        line   9:      unnamed       unused   input  active-high
        line  10:      unnamed       unused   input  active-high
        line  11:      unnamed       unused   input  active-high
        line  12:      unnamed       unused   input  active-high
        line  13:      unnamed       unused   input  active-high
        line  14:      unnamed       unused   input  active-high
        line  15:      unnamed       unused   input  active-high
        line  16:      unnamed       unused   input  active-high
        line  17:      unnamed       unused   input  active-high
        line  18:      unnamed       unused   input  active-high
        line  19:      unnamed       unused   input  active-high
        line  20:      unnamed    "klipper"  output  active-high [used]
        line  21:      unnamed       unused   input  active-high
        line  22:      unnamed       unused   input  active-high
        line  23:      unnamed       unused   input  active-high
        line  24:      unnamed       unused   input  active-high
        line  25:      unnamed       unused   input  active-high
        line  26:      unnamed       unused   input  active-high
        line  27:      unnamed       unused   input  active-high
        line  28:      unnamed       unused   input  active-high
        line  29:      unnamed       "led0"  output  active-high [used]
        line  30:      unnamed       unused   input  active-high
        line  31:      unnamed       unused   input  active-high
        line  32:      unnamed       unused   input  active-high
        line  33:      unnamed       unused   input  active-high
        line  34:      unnamed       unused   input  active-high
        line  35:      unnamed       unused   input  active-high
        line  36:      unnamed       unused   input  active-high
        line  37:      unnamed       unused   input  active-high
        line  38:      unnamed       unused   input  active-high
        line  39:      unnamed       unused   input  active-high
        line  40:      unnamed       unused   input  active-high
        line  41:      unnamed       unused   input  active-high
        line  42:      unnamed       unused   input  active-high
        line  43:      unnamed       unused   input  active-high
        line  44:      unnamed       unused   input  active-high
        line  45:      unnamed       unused   input  active-high
        line  46:      unnamed       unused   input  active-high
        line  47:      unnamed       unused   input  active-high
        line  48:      unnamed       unused   input  active-high
        line  49:      unnamed       unused   input  active-high
        line  50:      unnamed       unused   input  active-high
        line  51:      unnamed       unused   input  active-high
        line  52:      unnamed       unused   input  active-high
        line  53:      unnamed       unused   input  active-high
gpiochip1 - 8 lines:
        line   0:      unnamed       unused   input  active-high

```

--------------------------------

### Configure and Build BeagleBone PRU Firmware

Source: https://github.com/klipper3d/klipper/blob/master/docs/Beaglebone.md

Navigate to the Klipper directory, configure the build for BeagleBone PRU, and then build and flash the firmware. Ensure optional features that exceed PRU memory are disabled.

```bash
cd ~/klipper/
make menuconfig
```

```bash
sudo service klipper stop
make flash
sudo service klipper start
```

--------------------------------

### Start Filament Diameter Logging

Source: https://github.com/klipper3d/klipper/blob/master/docs/Hall_Filament_Width_Sensor.md

Issue this command to start logging filament diameter measurements. Logging is disabled by default.

```text
ENABLE_FILAMENT_WIDTH_LOG
```

--------------------------------

### Enable PWM0 and PWM1 on GPIO12 and GPIO13

Source: https://github.com/klipper3d/klipper/blob/master/docs/RPi_microcontroller.md

Use the `pwm-2chan` overlay in `/boot/config.txt` to enable both PWM channels, routing PWM0 to GPIO12 and PWM1 to GPIO13.

```bash
# Enable pwmchip sysfs interface
dtoverlay=pwm-2chan,pin=12,func=4,pin2=13,func2=4
```

--------------------------------

### Example of Uninitialized CAN Device Detection

Source: https://github.com/klipper3d/klipper/blob/master/docs/CANBUS.md

This is an example output when the canbus_query.py tool detects uninitialized CAN devices. Each device will have a unique identifier.

```text
Found canbus_uuid=11aa22bb33cc, Application: Klipper
```

--------------------------------

### SD Card Upload Utility Help Screen

Source: https://github.com/klipper3d/klipper/blob/master/docs/SDCard_Updates.md

Displays the usage instructions and available options for the `flash-sdcard.sh` utility.

```bash
./scripts/flash-sdcard.sh -h
```

--------------------------------

### Enable PWM0 on GPIO12

Source: https://github.com/klipper3d/klipper/blob/master/docs/RPi_microcontroller.md

Add this line to `/boot/config.txt` to enable the PWM0 channel and route it to GPIO pin 12.

```bash
# Enable pwmchip sysfs interface
dtoverlay=pwm,pin=12,func=4
```

--------------------------------

### Install Klipper MCU Service Script

Source: https://github.com/klipper3d/klipper/blob/master/docs/RPi_microcontroller.md

Installs and enables the systemd service for the klipper_mcu process, ensuring it runs before the main klippy process.

```bash
cd ~/klipper/
sudo cp ./scripts/klipper-mcu.service /etc/systemd/system/
sudo systemctl enable klipper-mcu.service
```

--------------------------------

### Enter Bootloader using Picocom

Source: https://github.com/klipper3d/klipper/blob/master/docs/Bootloader_Entry.md

This method uses picocom to enter the bootloader via a virtual serial port. It requires setting the baud rate to 1200 and then sending a specific key combination.

```shell
picocom -b 1200 <DEVICE>
<Ctrl-A><Ctrl-P>
```

--------------------------------

### Mark Start of Object G-code

Source: https://github.com/klipper3d/klipper/blob/master/docs/G-Codes.md

Denotes the start of an object's G-code for the current layer. Requires the exclude_object config section to be enabled.

```shell
EXCLUDE_OBJECT_START NAME=object_name
```

--------------------------------

### PALETTE_CONNECT

Source: https://github.com/klipper3d/klipper/blob/master/docs/G-Codes.md

Initializes the connection with the Palette 2 device.

```APIDOC
## PALETTE_CONNECT

### Description
Initializes the connection with the Palette 2 device.

### Method
Any

### Endpoint
Any

### Parameters
None

### Request Example
```
PALETTE_CONNECT
```

### Response
#### Success Response (200)
None specified

#### Response Example
None specified
```

--------------------------------

### Install Matplotlib for Graphing

Source: https://github.com/klipper3d/klipper/blob/master/docs/Debugging.md

Install the 'matplotlib' Python package, necessary for generating graphs with Klipper's analysis tools. Run on Debian-based systems.

```bash
sudo apt-get update
sudo apt-get install python-matplotlib
```

--------------------------------

### Bed Mesh Configuration Example

Source: https://github.com/klipper3d/klipper/blob/master/docs/Bed_Mesh.md

Configure bed mesh settings including speed, horizontal move Z, mesh boundaries, probe count, and scan overshoot. Ensure `horizontal_move_z` is set appropriately to avoid scanning errors.

```ini
[bed_mesh]
speed: 120
horizontal_move_z: 5
mesh_min: 35, 6
mesh_max: 240, 198
probe_count: 5
scan_overshoot: 8
```

--------------------------------

### OctoPrint Old Setup Serial Port

Source: https://github.com/klipper3d/klipper/blob/master/docs/OctoPrint.md

In some older setups, the Klipper serial communication path might be different. Use this path if the standard one does not work.

```text
/tmp/printer
```

--------------------------------

### Start and Stop Accelerometer Measurements

Source: https://github.com/klipper3d/klipper/blob/master/docs/G-Codes.md

Use ACCELEROMETER_MEASURE to start or stop measurements. Results are saved to a CSV file. Specify CHIP and NAME for custom file naming.

```gcode
ACCELEROMETER_MEASURE
```

```gcode
ACCELEROMETER_MEASURE CHIP=adxl345_name
```

```gcode
ACCELEROMETER_MEASURE NAME=my_measurements
```

```gcode
ACCELEROMETER_MEASURE CHIP=adxl345_name NAME=my_measurements
```

--------------------------------

### Enter Bootloader using Python flash_usb

Source: https://github.com/klipper3d/klipper/blob/master/docs/Bootloader_Entry.md

Use this Python script to enter the bootloader via a virtual serial port. Replace <DEVICE> with your actual serial port. Success is indicated by output; failure produces no output.

```shell
> cd klipper/scripts
> python3 -c 'import flash_usb as u; u.enter_bootloader("<DEVICE>")'
Entering bootloader on <DEVICE>
```

--------------------------------

### Download STM32duino Bootloader

Source: https://github.com/klipper3d/klipper/blob/master/docs/Bootloaders.md

Obtain the generic STM32duino bootloader binary for STM32F103 devices.

```shell
wget 'https://github.com/rogerclarkmelbourne/STM32duino-bootloader/raw/master/binaries/generic_boot20_pc13.bin'
```

--------------------------------

### Get Klipper System and Version Info

Source: https://github.com/klipper3d/klipper/blob/master/docs/API_Server.md

Use the 'info' endpoint to retrieve system and version details from Klipper. Clients can also provide their version information using the 'client_info' parameter.

```json
{"id": 123, "method": "info", "params": { "client_info": { "version": "v1"}}}
```

--------------------------------

### Configure Klipper Firmware

Source: https://github.com/klipper3d/klipper/blob/master/docs/Installation.md

Run 'make menuconfig' to configure the Klipper firmware settings. Refer to the printer configuration file for specific instructions.

```bash
make menuconfig
```

--------------------------------

### Install SciPy for Load Cell Filtering

Source: https://github.com/klipper3d/klipper/blob/master/docs/Load_Cell.md

Install the SciPy library using pip within your Klipper environment. This is a prerequisite for using Klipper's load cell filtering capabilities.

```bash
~/klippy-env/bin/pip install scipy
```

--------------------------------

### Enable Klipper API Socket

Source: https://github.com/klipper3d/klipper/blob/master/docs/API_Server.md

Start the Klipper host software with the -a parameter to enable the API socket. This creates a Unix Domain Socket for client connections.

```bash
~/klipper-env/bin/python ~/klipper/klippy/klippy.py ~/printer.cfg -a /tmp/klippy_uds -l /tmp/klippy.log
```

--------------------------------

### Navigate to Klipper Directory

Source: https://github.com/klipper3d/klipper/blob/master/docs/Installation.md

Change the current directory to the Klipper source code directory to begin the build process.

```bash
cd ~/klipper/
```

--------------------------------

### Apply Z Axis Shaper Parameters (Example 2)

Source: https://github.com/klipper3d/klipper/blob/master/docs/Measuring_Resonances.md

Consider using more aggressive input shapers for the Z axis due to its typically slower movements. This example shows a '2hump_ei' shaper.

```ini
[input_shaper]
... 
shaper_type_z: 2hump_ei
shaper_freq_z: 63.0
```

--------------------------------

### Set G-code Variable Example

Source: https://github.com/klipper3d/klipper/blob/master/docs/Command_Templates.md

The `SET_GCODE_VARIABLE` command allows saving state between macro calls. Variable names must be lowercase. This example saves the bed target temperature before disabling the heater and probing.

```yaml
[gcode_macro start_probe]
variable_bed_temp: 0
gcode:
  # Save target temperature to bed_temp variable
  SET_GCODE_VARIABLE MACRO=start_probe VARIABLE=bed_temp VALUE={printer.heater_bed.target}
  # Disable bed heater
  M140
  # Perform probe
  PROBE
  # Call finish_probe macro at completion of probe
  finish_probe

[gcode_macro finish_probe]
gcode:
  # Restore temperature
  M140 S{printer["gcode_macro start_probe"].bed_temp}

```

--------------------------------

### Input Shaper Tuning Results with Max Smoothing

Source: https://github.com/klipper3d/klipper/blob/master/docs/Measuring_Resonances.md

Example output after applying a maximum smoothing limit, showing updated shaper parameters and a potentially different recommended shaper.

```text
Fitted shaper 'zv' frequency = 55.4 Hz (vibrations = 19.7%, smoothing ~= 0.057)
To avoid too much smoothing with 'zv', suggested max_accel <= 12000 mm/sec^2
Fitted shaper 'mzv' frequency = 34.6 Hz (vibrations = 3.6%, smoothing ~= 0.170)
To avoid too much smoothing with 'mzv', suggested max_accel <= 3500 mm/sec^2
Fitted shaper 'ei' frequency = 48.2 Hz (vibrations = 4.8%, smoothing ~= 0.139)
To avoid too much smoothing with 'ei', suggested max_accel <= 4300 mm/sec^2
Fitted shaper '2hump_ei' frequency = 52.0 Hz (vibrations = 2.7%, smoothing ~= 0.200)
To avoid too much smoothing with '2hump_ei', suggested max_accel <= 3000 mm/sec^2
Fitted shaper '3hump_ei' frequency = 72.6 Hz (vibrations = 1.4%, smoothing ~= 0.155)
To avoid too much smoothing with '3hump_ei', suggested max_accel <= 3900 mm/sec^2
Recommended shaper is 3hump_ei @ 72.6 Hz
```

--------------------------------

### Configure Boot Stage 2 Name and Path

Source: https://github.com/klipper3d/klipper/blob/master/lib/pico-sdk/rp2040/boot_stage2/CMakeLists.txt

Configures the PICO_DEFAULT_BOOT_STAGE2 variable, falling back to 'compile_time_choice' if not set via environment or other means. It then constructs the full path to the boot stage 2 source file.

```cmake
set(PICO_BOOT_STAGE2_COMPILE_TIME_CHOICE_NAME compile_time_choice) # local var
if (NOT PICO_DEFAULT_BOOT_STAGE2_FILE)
    if (DEFINED ENV{PICO_DEFAULT_BOOT_STAGE2})
        set(PICO_DEFAULT_BOOT_STAGE2 $ENV{PICO_DEFAULT_BOOT_STAGE2})
        message("Using PICO_DEFAULT_BOOT_STAGE2 from environment ('${PICO_DEFAULT_BOOT_STAGE2}')")
    endif()
    if (NOT DEFINED PICO_DEFAULT_BOOT_STAGE2)
        set(PICO_DEFAULT_BOOT_STAGE2 ${PICO_BOOT_STAGE2_COMPILE_TIME_CHOICE_NAME})
    endif()
    set(PICO_DEFAULT_BOOT_STAGE2 "${PICO_DEFAULT_BOOT_STAGE2}" CACHE STRING "boot stage 2 short name" FORCE)
    set(PICO_DEFAULT_BOOT_STAGE2_FILE "${CMAKE_CURRENT_LIST_DIR}/${PICO_DEFAULT_BOOT_STAGE2}.S")
endif()
```

--------------------------------

### Install AVR Packages on Beaglebone

Source: https://github.com/klipper3d/klipper/blob/master/docs/Beaglebone.md

Use these commands to remove PRU packages and install AVR packages if you need to build AVR micro-controller code in the Beaglebone environment. Remember to restore PRU packages afterward if necessary.

```bash
sudo apt-get remove gcc-pru
sudo apt-get install avrdude gcc-avr binutils-avr avr-libc
```

```bash
sudo apt-get remove avrdude gcc-avr binutils-avr avr-libc
sudo apt-get install gcc-pru
```

--------------------------------

### Set Default Boot Stage 2 File from Environment

Source: https://github.com/klipper3d/klipper/blob/master/lib/pico-sdk/rp2040/boot_stage2/CMakeLists.txt

Sets the PICO_DEFAULT_BOOT_STAGE2_FILE variable from the environment if defined, otherwise uses a cached value. Logs the source of the setting.

```cmake
if (DEFINED ENV{PICO_DEFAULT_BOOT_STAGE2_FILE})
    set(PICO_DEFAULT_BOOT_STAGE2_FILE $ENV{PICO_DEFAULT_BOOT_STAGE2_FILE})
    message("Using PICO_DEFAULT_BOOT_STAGE2_FILE from environment ('${PICO_DEFAULT_BOOT_STAGE2_FILE}')")
elseif (PICO_DEFAULT_BOOT_STAGE2_FILE)
    # explicitly set, so cache it
    set(PICO_DEFAULT_BOOT_STAGE2_FILE "${PICO_DEFAULT_BOOT_STAGE2_FILE}" CACHE STRING "boot stage 2 source file" FORCE)
endif()
```