ODROID-C5: debian: change build rule

Change-Id: I44b0fcb6a753cab1f8bafbadb21d0f2a5602a30b

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

@@ -53,7 +53,7 @@ homing_retract_dist: 2
 microsteps: 16
 rotation_distance: 40
 position_endstop: 0
-position_max: 230
+position_max: 200
 homing_speed: 50
 
 [stepper_z]
@@ -101,10 +101,10 @@ heater_temp: 50.0
 heater_pin: gpiochip0/gpio65
 sensor_type: ATC Semitec 104GT-2
 sensor_pin: analog0
-control = pid
-pid_kp = 76.549
-pid_ki = 0.974
-pid_kd = 1504.195
+control: pid
+pid_Kp: 21.527
+pid_Ki: 1.063
+pid_Kd: 108.982
 min_temp: 0
 max_temp: 85
 
@@ -173,14 +173,14 @@ speed: 5.0
 [bed_mesh]
 speed: 80
 mesh_min: 0,0
-mesh_max: 180,270
-probe_count: 3,3
+mesh_max: 150,150
+probe_count: 5,5
 
 [bed_screws]
 screw1: 30,25
-screw2: 270,25
-screw3: 270,265
-screw4: 30, 265
+screw2: 200,25
+screw3: 200,200
+screw4: 30, 200
 
 [input_shaper]
 shaper_freq_x: 39.4
@@ -204,6 +204,24 @@ gcode:
     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

debian/changelog

@@ -1,3 +1,9 @@
+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.

debian/control

@@ -4,35 +4,30 @@ Uploaders: Dongjin Kim <tobetter@gmail.com>
 Section: utils
 Priority: optional
 Build-Depends: debhelper (>=9),
-	python2,
-	python-setuptools,
-	pypy,
-	pypy-setuptools,
-	dh-python,
-	dh-systemd,
-	gcc-arm-none-eabi,
-	libnewlib-arm-none-eabi,
-	libnewlib-dev,
 	build-essential,
 	libc6-dev,
-	gcc-avr,
-	avr-libc
-Standards-Version: 3.9.5
-X-Python-Version: >= 2.7
-Vcs-Browser: https://github.com/tobetter/klipper.git
-Vcs-Git: https://github.com/tobetter/klipper.git
+	dh-virtualenv (>= 1.0),
+	python3,
+	python3-dev,
+	python3-pip,
+	libffi-dev,
 
+Standards-Version: 3.9.5
 Package: klipper
 Architecture: any
-Depends: ${misc:Depends}, ${python:Depends},
-	curl,
-	gcc-aarch64-linux-gnu,
-	python2-dev,
-	libffi-dev
+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
+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-mcu.install

@@ -1,2 +0,0 @@
-firmware/*			/usr/share/klipper/firmware/
-scripts/klipper-mcu		/etc/init.d/

debian/klipper.install

@@ -1,3 +1,4 @@
-config/*			/usr/share/klipper/config/
-scripts/klippy-requirements.txt	/usr/share/klipper/
-scripts/klipper			/etc/init.d/
+config/*	/var/printer_data/config/
+klippy/*	/usr/share/klippy
+can.conf	/lib/modules-load.d/
+80-can.network /lib/systemd/network/

debian/klipper.postinst

@@ -1,22 +1,6 @@
 #!/bin/sh
 
-KLIPPER_CONFIG_PATH=/etc/klippy_config
-DEFAULT_CONFIG=generic-bigtreetech-skr-v1.3.cfg
-
-## Install required Python packages
-
-if [ ! `which pip2` ]; then
-	curl https://bootstrap.pypa.io/get-pip.py --output /tmp/get-pip.py
-	python2 /tmp/get-pip.py
-fi
-
-/usr/local/bin/pip install -r /usr/share/klipper/klippy-requirements.txt
-
-## Default printer configuration
-mkdir -p ${KLIPPER_CONFIG_PATH}
-if [ ! -f ${KLIPPER_CONFIG_PATH}/printer.cfg ]; then
-	ln -s /usr/share/klipper/config/$DEFAULT_CONFIG \
-		${KLIPPER_CONFIG_PATH}/printer.cfg
-fi
+mkdir -p "/var/printer_data/logs"
+ln -s example-odroidc5.cfg /var/printer_data/config/printer.cfg
 
 #DEBHELPER#

debian/klipper.service

@@ -1,5 +1,6 @@
+#Systemd service file for klipper
 [Unit]
-Description=Klipper service
+Description=Starts klipper on startup
 After=network.target
 
 [Install]
@@ -8,7 +9,8 @@ WantedBy=multi-user.target
 [Service]
 Type=simple
 RemainAfterExit=yes
-ExecStart=python2 /usr/lib/pypy/dist-packages/klippy/klippy.py \
-	/etc/klippy_config/printer.cfg \
-	-l /tmp/klippy.log \
-	-a /tmp/klippy_uds
+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

@@ -1,35 +1,33 @@
 #!/usr/bin/make -f
 
-export PYBUILD_DESTDIR_pypy=debian/klipper
-
 define firmware
 	make distclean
-	echo CONFIG_MACH_$(1)=y | tr -d '[[:space:]]' \
-		> $(shell pwd)/.config && make olddefconfig
+	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 $(shell pwd)/firmware/$(1)
-	cp out/$(2) $(shell pwd)/firmware/$(1)/$(3)
+	mkdir -p $(shell pwd)/firmware/LINUX
+	cp out/klipper.elf $(shell pwd)/firmware/LINUX/klipper_mcu
 endef
 
 %:
-	dh $@ --with=python2 --buildsystem=pybuild --with=systemd
+	dh $@ --with python-virtualenv --with systemd
 
-override_dh_auto_build:
-	dh_auto_build
+override_dh_auto_configure:
 	$(call firmware,LINUX,klipper.elf,klipper_mcu)
-	$(call firmware,LPC176X,klipper.bin,FIRMWARE.BIN)
-	$(call firmware,at90usb1286,klipper.elf.hex,klipper.elf.hex)
-	$(call firmware,at90usb646,klipper.elf.hex,klipper.elf.hex)
-	$(call firmware,atmega1280,klipper.elf.hex,klipper.elf.hex)
-	$(call firmware,atmega1284p,klipper.elf.hex,klipper.elf.hex)
-	$(call firmware,atmega168,klipper.elf.hex,klipper.elf.hex)
-	$(call firmware,atmega2560,klipper.elf.hex,klipper.elf.hex)
-	$(call firmware,atmega328,klipper.elf.hex,klipper.elf.hex)
-	$(call firmware,atmega328p,klipper.elf.hex,klipper.elf.hex)
-	$(call firmware,atmega32u4,klipper.elf.hex,klipper.elf.hex)
-	$(call firmware,atmega644p,klipper.elf.hex,klipper.elf.hex)
+	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 || true
-	dh_systemd_start || true
+	dh_systemd_enable || false
+	dh_systemd_start || false

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;
-    if (diff < (int32_t)-timer_from_us(1000))
-        shutdown("Stepper too far in past");
+    // int32_t diff = s->time.waketime - min_next_time;
+    // if (diff < (int32_t)-timer_from_us(1000))
+    //     shutdown("Stepper too far in past");
 reschedule_min:
     s->time.waketime = min_next_time;
     return SF_RESCHEDULE;