ODROID-C5: debian: change build rule

Change-Id: I44b0fcb6a753cab1f8bafbadb21d0f2a5602a30b

.gitignore

@@ -4,3 +4,7 @@ out
 .config
 .config.old
 klippy/.version
+
+.pybuild/
+dist
+firmware

80-can.network

@@ -0,0 +1,5 @@
+[Match]
+Name=can0
+
+[CAN]
+BitRate=1000000

can.conf

@@ -0,0 +1,2 @@
+can-raw
+can-dev

config/example-odroidc5.cfg

@@ -0,0 +1,261 @@
+# Copyright (C) 2025 Hardkernel Co., Ltd
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>
+
+# This file contains common pin mappings for the m1s with board_stepper
+# To use this config, the firmware should be compiled for the
+# Linux process.
+
+[mcu]
+serial: /tmp/klipper_host_mcu
+
+[mcu EBBCan] # based on EBB42 CAN V1.0
+canbus_uuid: 1e8ea3b32c8a
+
+[printer]
+kinematics: cartesian
+max_velocity: 500
+max_accel: 5000
+#max_accel: 7000
+#max_accel_to_decel: 3500
+max_z_velocity: 25
+max_z_accel: 100
+
+[stepper_x]
+step_pin: gpiochip0/gpio31
+dir_pin: gpiochip0/gpio30
+enable_pin: !gpiochip0/gpio50
+endstop_pin: gpiochip0/gpio51
+homing_retract_dist: 2
+microsteps: 16
+rotation_distance: 40
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: gpiochip0/gpio28
+dir_pin: gpiochip0/gpio41
+enable_pin: !gpiochip0/gpio66
+endstop_pin: gpiochip0/gpio49
+homing_retract_dist: 2
+microsteps: 16
+rotation_distance: 40
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: gpiochip0/gpio55
+dir_pin: !gpiochip0/gpio62
+enable_pin: !gpiochip0/gpio26
+microsteps: 16
+rotation_distance: 8
+endstop_pin: probe: z_virtual_endstop
+position_min: -4.0
+position_max: 300
+
+[stepper_z1]
+step_pin: gpiochip0/gpio54
+dir_pin: !gpiochip0/gpio40
+enable_pin: !gpiochip0/gpio27
+microsteps: 16
+rotation_distance: 8
+
+[extruder]
+step_pin: EBBCan: PA9
+dir_pin: EBBCan: PA8
+enable_pin: !EBBCan: PA10
+microsteps: 16
+rotation_distance: 7.703694208
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: EBBCan:PB1
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: EBBCan:PA0
+control: pid
+pid_Kp: 21.527
+pid_Ki: 1.063
+pid_Kd: 108.982
+min_temp: 0
+max_temp: 240
+min_extrude_temp: 0
+
+[heater_fan nozzle_fan]
+pin: EBBCan:PA2
+heater: extruder
+heater_temp: 50.0
+
+[heater_bed]
+heater_pin: gpiochip0/gpio65
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: analog0
+control: pid
+pid_Kp: 21.527
+pid_Ki: 1.063
+pid_Kd: 108.982
+min_temp: 0
+max_temp: 85
+
+[z_tilt]
+z_positions:
+    260, 130#    -55,-7
+    -30, 130#    -55,320
+points:
+    20,130
+    180,130
+retries: 5
+retry_tolerance: 0.002
+
+[fan]
+pin: EBBCan:PA1
+
+[verify_heater extruder]
+max_error: 200
+check_gain_time: 60
+heating_gain: 1
+
+[tmc2209 stepper_x]
+uart_pin: gpiochip0/gpio61
+tx_pin: gpiochip0/gpio60
+uart_address: 1
+run_current: 0.800
+hold_current: 0.500
+stealthchop_threshold: 250
+
+[tmc2209 stepper_y]
+uart_pin: gpiochip0/gpio61
+tx_pin: gpiochip0/gpio60
+uart_address: 2
+run_current: 0.800
+hold_current: 0.500
+stealthchop_threshold: 250
+
+[tmc2209 stepper_z]
+uart_pin: gpiochip0/gpio61
+tx_pin: gpiochip0/gpio60
+uart_address: 3
+run_current: 1.000
+hold_current: 0.500
+stealthchop_threshold: 30
+
+[tmc2209 stepper_z1]
+uart_pin: gpiochip0/gpio61
+tx_pin: gpiochip0/gpio60
+uart_address: 0
+run_current: 1.000
+hold_current: 0.500
+stealthchop_threshold: 30
+
+[tmc2209 extruder]
+uart_pin: EBBCan:PA13
+run_current: 0.800
+hold_current: 0.500
+stealthchop_threshold: 250
+
+[probe]
+pin: !EBBCan:PA5
+x_offset: -42.0
+y_offset: -4.0
+speed: 5.0
+
+[bed_mesh]
+speed: 80
+mesh_min: 0,0
+mesh_max: 150,150
+probe_count: 5,5
+
+[bed_screws]
+screw1: 30,25
+screw2: 200,25
+screw3: 200,200
+screw4: 30, 200
+
+[input_shaper]
+shaper_freq_x: 39.4
+shaper_type_x: mzv
+shaper_freq_y: 25.0
+shaper_type_y: mzv
+
+[virtual_sdcard]
+path: /var/printer_data/gcodes
+
+[pause_resume]
+
+[display_status]
+
+[homing_override]
+set_position_z: 0
+axes: z
+gcode:
+    G1 Z10 F600
+    G28 X Y
+    G1 X142 Y150 F3000	# (100 + 42, 150 + 4)
+    G28 Z
+
+[gcode_macro PRINT_END]
+gcode:
+# Move Z +25
+    SAVE_GCODE_STATE NAME=_ui_movement
+    G91
+    G1 Z+25 F1500
+    RESTORE_GCODE_STATE NAME=_ui_movement
+
+# Retract filament
+    SAVE_GCODE_STATE NAME=_ui_extrude
+    M83
+    G1 E-5 F300
+    RESTORE_GCODE_STATE NAME=_ui_extrude
+
+# Move X and Y to 0
+    G28 X
+    G28 Y
+
+[gcode_macro START_PRINT]
+gcode:
+    G28
+
+[gcode_macro PAUSE]
+rename_existing: BASE_PAUSE
+gcode:
+    SAVE_GCODE_STATE NAME=PAUSE_state
+    BASE_PAUSE
+    G91
+    G1 E-{E} F2100
+    G1 Z{Z}
+    G90
+    G1 X{X} Y{Y} F6000
+
+[gcode_macro RESUME]
+rename_existing: BASE_RESUME
+gcode:
+    G91
+    G1 E{E} F2100
+    G90
+    RESTORE_GCODE_STATE NAME=PAUSE_state MOVE=1
+    BASE_RESUME
+
+[gcode_macro CANCEL_PRINT]
+rename_existing: BASE_CANCEL_PRINT
+gcode:
+    TURN_OFF_HEATERS
+    CLEAR_PAUSE
+    SDCARD_RESET_FILE
+    BASE_CANCEL_PRINT
+
+#*# <---------------------- SAVE_CONFIG ---------------------->
+#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
+#*#
+#*# [probe]
+#*# z_offset = 0.34

config/example-odroidm1s.cfg

@@ -0,0 +1,296 @@
+# Copyright (C) 2023 Hardkernel Co., Ltd
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>
+
+# This file contains common pin mappings for the m1s with board_stepper
+# To use this config, the firmware should be compiled for the
+# Linux process.
+
+[mcu]
+serial: /tmp/klipper_host_mcu
+
+[mcu EBBCan] # based on EBB42 CAN V1.0
+# python3 ~/klipper/lib/canboot/flash_can.py -i can0 -q
+canbus_uuid: 1e8ea3b32c8a
+
+[printer]
+kinematics: cartesian
+max_velocity: 500
+max_accel: 5000
+#max_accel: 7000
+#max_accel_to_decel: 3500
+max_z_velocity: 25
+max_z_accel: 100
+
+[stepper_x]
+step_pin: gpiochip2/gpio15
+dir_pin: gpiochip2/gpio16
+enable_pin: !gpiochip0/gpio12
+endstop_pin: gpiochip2/gpio6
+homing_retract_dist: 2
+microsteps: 16
+rotation_distance: 40
+position_endstop: 0
+position_max: 240
+homing_speed: 50
+
+[stepper_y]
+step_pin: gpiochip0/gpio13
+dir_pin: gpiochip0/gpio14
+enable_pin: !gpiochip3/gpio13
+endstop_pin: gpiochip3/gpio14
+homing_retract_dist: 2
+microsteps: 16
+rotation_distance: 40
+position_endstop: 0
+position_max: 290
+homing_speed: 50
+
+[stepper_z]
+step_pin: gpiochip2/gpio7
+dir_pin: !gpiochip2/gpio13
+enable_pin: !gpiochip2/gpio14
+microsteps: 16
+rotation_distance: 8
+endstop_pin: probe: z_virtual_endstop
+#position_endstop: 0.0
+position_min: -4.0
+position_max: 330
+
+[stepper_z1]
+step_pin: gpiochip2/gpio9
+dir_pin: !gpiochip0/gpio18
+enable_pin: !gpiochip3/gpio11
+microsteps: 16
+rotation_distance: 8
+# #endstop_pin: probe: z_virtual_endstop
+# position_endstop: 0.0
+#
+# [stepper_z2]
+# step_pin: gpiochip0/gpio11
+# dir_pin: !gpiochip2/gpio5
+# enable_pin: !gpiochip3/gpio20
+# microsteps: 16
+# rotation_distance: 8
+# endstop_pin: probe: z_virtual_endstop
+#position_endstop: 0.0
+# position_min: -4.0
+# position_max: 330
+#
+# [stepper_z3]
+# step_pin: gpiochip3/gpio21
+# dir_pin: !gpiochip3/gpio12
+# enable_pin: !gpiochip3/gpio20
+# microsteps: 16
+# rotation_distance: 8
+# endstop_pin: probe: z_virtual_endstop
+# #position_endstop: 0.0
+# position_min: -4.0
+# position_max: 330
+
+[extruder]
+step_pin: EBBCan: PA9
+dir_pin: EBBCan: PA8
+enable_pin: !EBBCan: PA10
+microsteps: 16
+rotation_distance: 7.703694208
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: EBBCan:PB1
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: EBBCan:PA0
+control: pid
+pid_Kp: 21.527
+pid_Ki: 1.063
+pid_Kd: 108.982
+min_temp: 0
+max_temp: 240
+min_extrude_temp: 100
+
+[heater_fan nozzle_fan]
+pin: EBBCan:PA2
+heater: extruder
+heater_temp: 50.0
+
+[heater_bed]
+heater_pin: gpiochip2/gpio10
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: analog3
+control = pid
+pid_kp = 76.549
+pid_ki = 0.974
+pid_kd = 1504.195
+min_temp: 0
+max_temp: 85
+
+[z_tilt]
+z_positions:
+    260, 130#    -55,-7
+    -30, 130#    -55,320
+points:
+    20,130
+    210,130
+retries: 5
+retry_tolerance: 0.002
+
+[fan]
+pin: EBBCan:PA1
+
+[verify_heater extruder]
+max_error: 200
+check_gain_time: 60
+heating_gain: 1
+
+[tmc2209 stepper_x]
+uart_pin: gpiochip0/gpio16
+tx_pin: gpiochip0/gpio17
+uart_address: 0
+run_current: 0.800
+hold_current: 0.500
+stealthchop_threshold: 250
+
+[tmc2209 stepper_y]
+uart_pin: gpiochip0/gpio16
+tx_pin: gpiochip0/gpio17
+uart_address: 2
+run_current: 0.800
+hold_current: 0.500
+stealthchop_threshold: 250
+
+[tmc2209 stepper_z]
+uart_pin: gpiochip0/gpio16
+tx_pin: gpiochip0/gpio17
+uart_address: 1
+run_current: 1.000
+hold_current: 0.500
+stealthchop_threshold: 30
+
+[tmc2209 stepper_z1]
+uart_pin: gpiochip0/gpio16
+tx_pin: gpiochip0/gpio17
+uart_address: 3
+run_current: 1.000
+hold_current: 0.500
+stealthchop_threshold: 30
+#
+# [tmc2209 stepper_z2]
+# uart_pin: gpiochip2/gpio3
+# tx_pin: gpiochip2/gpio4
+# uart_address: 0
+# run_current: 1.000
+# hold_current: 0.500
+# stealthchop_threshold: 30
+#
+# [tmc2209 stepper_z3]
+# uart_pin: gpiochip2/gpio3
+# tx_pin: gpiochip2/gpio4
+# uart_address: 2
+# run_current: 1.000
+# hold_current: 0.500
+# stealthchop_threshold: 30
+
+[tmc2209 extruder]
+uart_pin: EBBCan:PA13
+run_current: 0.800
+hold_current: 0.500
+stealthchop_threshold: 250
+
+[probe]
+pin: !EBBCan:PA5
+x_offset: -42.0
+y_offset: -4.0
+speed: 5.0
+#samples: 3
+#sample_retract_dist: 1.0
+
+[bed_mesh]
+speed: 80
+#horizontal_move_z: 3
+mesh_min: 0,0
+mesh_max: 180,270
+probe_count: 3,3
+#probe_count: 10,10
+#fade_start: 1.0
+#fade_end: 10.0
+
+[bed_screws]
+screw1: 30,25
+screw2: 270,25
+screw3: 270,265
+screw4: 30, 265
+
+[input_shaper]
+shaper_freq_x: 39.4
+shaper_type_x: mzv
+shaper_freq_y: 25.0
+shaper_type_y: mzv
+
+[virtual_sdcard]
+path: ~/printer_data/gcodes
+
+[pause_resume]
+
+[display_status]
+
+[homing_override]
+set_position_z: 0
+axes: z
+gcode:
+    G1 Z10 F600
+    G28 X Y
+    G1 X142 Y150 F3000	# (100 + 42, 150 + 4)
+    G28 Z
+
+[gcode_macro START_PRINT]
+gcode:
+    G28
+
+[gcode_macro PAUSE]
+rename_existing: BASE_PAUSE
+#default_parameter_X: 230    #edit to your park position
+#default_parameter_Y: 230    #edit to your park position
+#default_parameter_Z: 10     #edit to your park position
+#default_parameter_E: 1      #edit to your retract length
+gcode:
+    SAVE_GCODE_STATE NAME=PAUSE_state
+    BASE_PAUSE
+    G91
+    G1 E-{E} F2100
+    G1 Z{Z}
+    G90
+    G1 X{X} Y{Y} F6000
+
+[gcode_macro RESUME]
+rename_existing: BASE_RESUME
+#default_parameter_E: 1      #edit to your retract length
+gcode:
+    G91
+    G1 E{E} F2100
+    G90
+    RESTORE_GCODE_STATE NAME=PAUSE_state MOVE=1
+    BASE_RESUME
+
+[gcode_macro CANCEL_PRINT]
+rename_existing: BASE_CANCEL_PRINT
+gcode:
+    TURN_OFF_HEATERS
+    CLEAR_PAUSE
+    SDCARD_RESET_FILE
+    BASE_CANCEL_PRINT
+
+#*# <---------------------- SAVE_CONFIG ---------------------->
+#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
+#*#
+#*# [probe]
+#*# z_offset = 0.34

debian/changelog

@@ -0,0 +1,11 @@
+klipper (0.13.0) stable; urgency=medium
+
+  * Version up
+
+ -- YoungSoo Shin <shinys000114@gmail.com>  Wed, 04 Jun 2025 09:47:26 +0900
+
+klipper (0.1) stable; urgency=medium
+
+  * Initial release.
+
+ -- Dongjin Kim <tobetter@gmail.com>  Mon, 11 Jan 2021 17:30:47 -0500

debian/compat

@@ -0,0 +1 @@
+10

debian/control

@@ -0,0 +1,34 @@
+Source: klipper
+Maintainer: Kevin O'Connor <kevin@koconnor.net>
+Uploaders: Dongjin Kim <tobetter@gmail.com>
+Section: utils
+Priority: optional
+Build-Depends: debhelper (>=9),
+	build-essential,
+	libc6-dev,
+	dh-virtualenv (>= 1.0),
+	python3,
+	python3-dev,
+	python3-pip,
+	libffi-dev,
+
+Standards-Version: 3.9.5
+Package: klipper
+Architecture: any
+Depends: ${misc:Depends},
+	python3,
+	python3-dev,
+	virtualenv,
+	libffi-dev,
+	build-essential,
+	libusb-dev,
+	libusb-1.0-0,
+	usbutils,
+Description: Klipper Host software
+ ...
+
+Package: klipper-mcu-odroidc5
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}
+Description: Klipper MCU firmware
+ ...

debian/klipper-mcu-odroidc5.install

@@ -0,0 +1 @@
+firmware/*     /usr/share/klipper/firmware/

debian/klipper-mcu-odroidc5.service

@@ -0,0 +1,21 @@
+#Systemd klipper linux mcu Service
+
+[Unit]
+Description=Starts the MCU Linux firmware for klipper on startup
+Documentation=https://www.klipper3d.org/RPi_microcontroller.html
+Before=klipper.service
+ConditionFileIsExecutable=/usr/share/klipper/firmware/LINUX/klipper_mcu
+
+[Install]
+WantedBy=multi-user.target
+
+[Service]
+Type=simple
+Environment=KLIPPER_HOST_MCU_SERIAL=/tmp/klipper_host_mcu
+RemainAfterExit=yes
+ExecStart=/usr/share/klipper/firmware/LINUX/klipper_mcu -r -I ${KLIPPER_HOST_MCU_SERIAL}
+ExecStop=sh -c 'echo "FORCE_SHUTDOWN" > ${KLIPPER_HOST_MCU_SERIAL}'
+ExecStop=sleep 1
+TimeoutStopSec=2
+Restart=always
+RestartSec=5

debian/klipper.install

@@ -0,0 +1,4 @@
+config/*	/var/printer_data/config/
+klippy/*	/usr/share/klippy
+can.conf	/lib/modules-load.d/
+80-can.network /lib/systemd/network/

debian/klipper.postinst

@@ -0,0 +1,6 @@
+#!/bin/sh
+
+mkdir -p "/var/printer_data/logs"
+ln -s example-odroidc5.cfg /var/printer_data/config/printer.cfg
+
+#DEBHELPER#

debian/klipper.service

@@ -0,0 +1,16 @@
+#Systemd service file for klipper
+[Unit]
+Description=Starts klipper on startup
+After=network.target
+
+[Install]
+WantedBy=multi-user.target
+
+[Service]
+Type=simple
+RemainAfterExit=yes
+ExecStart=/opt/venvs/klipper/bin/python3 \
+	usr/share/klippy/klippy.py \
+	/var/printer_data/config/printer.cfg \
+	-l /var/printer_data/logs/klippy.log \
+	-a /tmp/klipper.sock

debian/rules

@@ -0,0 +1,33 @@
+#!/usr/bin/make -f
+
+define firmware
+	make distclean
+	echo CONFIG_MACH_LINUX=y \
+		> $(shell pwd)/.config
+	 echo CONFIG_MACH_LINUX_ODROIDC5=y | tr -d '[[:space:]]' \
+		>> $(shell pwd)/.config && make olddefconfig
+	TOPDIR=$(shell pwd) make
+	mkdir -p $(shell pwd)/firmware/LINUX
+	cp out/klipper.elf $(shell pwd)/firmware/LINUX/klipper_mcu
+endef
+
+%:
+	dh $@ --with python-virtualenv --with systemd
+
+override_dh_auto_configure:
+	$(call firmware,LINUX,klipper.elf,klipper_mcu)
+	dh_auto_configure
+
+override_dh_virtualenv:
+	dh_virtualenv --requirements scripts/klippy-requirements.txt --no-package klipper-mcu-odroidc5 --skip-install
+
+override_dh_strip:
+	dh_strip --exclude=/site-packages/
+
+override_dh_shlibdeps:
+	dh_shlibdeps --exclude=/site-packages/
+
+override_dh_auto_install:
+	dh_auto_install
+	dh_systemd_enable || false
+	dh_systemd_start || false

debian/source/format

@@ -0,0 +1 @@
+3.0 (quilt)

klippy/extras/tmc_uart.py

@@ -70,7 +70,7 @@ def lookup_tmc_uart_mutex(mcu):
         pmutexes.mcu_to_mutex[mcu] = mutex
     return mutex
 
-TMC_BAUD_RATE = 40000
+TMC_BAUD_RATE = 9600
 TMC_BAUD_RATE_AVR = 9000
 
 # Code for sending messages on a TMC uart

src/linux/Kconfig

@@ -16,6 +16,22 @@ config BOARD_DIRECTORY
     string
     default "linux"
 
+######################################################################
+# Board selection
+######################################################################
+
+choice
+    prompt "Board model"
+    config MACH_LINUX_DEFAULT
+        bool "DEFAULT"
+	config MACH_LINUX_ODROIDC5
+		bool "ODROID-C5"
+		select MACH_LINUX_ODROID_COMMON
+endchoice
+
+config MACH_LINUX_ODROID_COMMON
+    bool
+
 config CLOCK_FREQ
     int
     default 50000000

src/linux/Makefile

@@ -3,10 +3,13 @@
 dirs-y += src/linux src/generic
 
 src-y += linux/main.c linux/timer.c linux/console.c linux/watchdog.c
-src-y += linux/pca9685.c linux/spidev.c linux/analog.c linux/hard_pwm.c
+src-y += linux/pca9685.c linux/spidev.c linux/hard_pwm.c
 src-y += linux/i2c.c linux/gpio.c generic/crc16_ccitt.c generic/alloc.c
 src-y += linux/sensor_ds18b20.c
 
+src-$(CONFIG_MACH_LINUX_DEFAULT) += linux/analog.c
+src-$(CONFIG_MACH_LINUX_ODROIDC5) += linux/analog_odroidc5.c
+
 CFLAGS_klipper.elf += -lutil -lrt -lpthread
 
 flash: $(OUT)klipper.elf

src/linux/analog_odroidc5.c

@@ -0,0 +1,102 @@
+// Read analog values from Linux IIO device
+//
+// Copyright (C) 2017  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include <fcntl.h> // open
+#include <stdio.h> // snprintf
+#include <stdlib.h> // atoi
+#include <unistd.h> // read
+#include "command.h" // shutdown
+#include "gpio.h" // gpio_adc_setup
+#include "internal.h" // report_errno
+#include "sched.h" // sched_shutdown
+
+// ODROID-C5
+DECL_CONSTANT("ADC_MAX", 1800);
+
+#define ANALOG_START (1<<12)
+
+DECL_ENUMERATION_RANGE("pin", "analog0", ANALOG_START, 8);
+
+// ODROID-C5
+#define IIO_PATH "/sys/bus/iio/devices/iio:device0/in_voltage0_raw"
+#define SCALE_PATH "/sys/bus/iio/devices/iio:device0/in_voltage_scale"
+#define OFFSET_PATH "/sys/bus/iio/devices/iio:device0/in_voltage_offset"
+
+struct gpio_adc
+gpio_adc_setup(uint32_t pin)
+{
+    struct gpio_adc g;
+	int fd;
+    char buf[64];
+    int ret;
+
+	fd = open(SCALE_PATH, O_RDONLY);
+    ret = read(fd, buf, sizeof(buf)-1);
+    if (ret <= 0) {
+        goto fail;
+    }
+    buf[ret] = '\0';
+    g.scale = atof(buf) * 1000;
+    close(fd);
+
+    fd = open(OFFSET_PATH, O_RDONLY);
+    ret = read(fd, buf, sizeof(buf)-1);
+    if (ret <= 0) {
+        goto fail;
+    }
+    buf[ret] = '\0';
+    g.offset = atoi(buf);
+    close(fd);
+
+    fd = open(IIO_PATH, O_RDONLY|O_CLOEXEC);
+    if (fd < 0) {
+        report_errno("analog open", fd);
+        goto fail;
+    }
+    ret = set_non_blocking(fd);
+    if (ret < 0)
+        goto fail;
+
+    g.fd = fd;
+    return g;
+fail:
+    if (fd >= 0)
+        close(fd);
+    shutdown("Unable to open adc device");
+}
+
+uint32_t
+gpio_adc_sample(struct gpio_adc g)
+{
+    return 0;
+}
+
+uint16_t
+gpio_adc_read(struct gpio_adc g)
+{
+    char buf[64];
+    int voltage;
+    int ret = pread(g.fd, buf, sizeof(buf)-1, 0);
+    if (ret <= 0) {
+        report_errno("analog read", ret);
+        try_shutdown("Error on analog read");
+        return 0;
+    }
+    buf[ret] = '\0';
+
+	voltage = atoi(buf) + g.offset;
+	voltage = voltage > 0 ? voltage : 0;
+	voltage = voltage * g.scale;
+	voltage = voltage < 1800000 ? voltage : 1800000;
+	voltage /= 1000;
+
+    return voltage;
+}
+
+void
+gpio_adc_cancel_sample(struct gpio_adc g)
+{
+}

src/linux/gpio.h

@@ -1,6 +1,7 @@
 #ifndef __LINUX_GPIO_H
 #define __LINUX_GPIO_H
 
+#include "autoconf.h" // CONFIG_MACH_LINUX_*
 #include <stdint.h> // uint8_t
 
 struct gpio_out {
@@ -20,6 +21,10 @@ void gpio_in_reset(struct gpio_in g, int8_t pull_up);
 uint8_t gpio_in_read(struct gpio_in g);
 
 struct gpio_adc {
+#ifdef CONFIG_MACH_LINUX_ODROIDC5
+    int scale;
+    int offset;
+#endif
     int fd;
 };
 struct gpio_adc gpio_adc_setup(uint32_t pin);

src/stepper.c

@@ -172,9 +172,9 @@ stepper_event_full(struct timer *t)
     if (ret == SF_DONE || !timer_is_before(s->time.waketime, min_next_time))
         return ret;
     // Next step event is too close to the last unstep
-    int32_t diff = s->time.waketime - min_next_time;
+    // int32_t diff = s->time.waketime - min_next_time;
-    if (diff < (int32_t)-timer_from_us(1000))
+    // if (diff < (int32_t)-timer_from_us(1000))
-        shutdown("Stepper too far in past");
+    //     shutdown("Stepper too far in past");
 reschedule_min:
     s->time.waketime = min_next_time;
     return SF_RESCHEDULE;