# This file contains common configurations and pin mappings
# for the Flsun Q5 using the MKS Robin Nano board.

# To use this config, the firmware should be compiled for the
# STM32F103. When running "make menuconfig", enable "extra low-level
# configuration setup", select the 28KiB bootloader, and serial (on
# USART1 PA10/PA9) communication.

# Note that the "make flash" command does not work with MKS Robin
# boards. After running "make", run the following command:
# ./scripts/update_mks_robin.py out/klipper.bin out/Robin_nano.bin
# Copy the file out/Robin_nano.bin to an SD card and then restart the
# printer with that SD card.

# See docs/Config_Reference.md for a description of parameters.
[mcu]
serial: /dev/ttyAMA0
restart_method: command

[printer]
kinematics: delta
max_velocity: 250
max_accel: 3000
max_z_velocity: 100
delta_radius: 107.5
print_radius: 100
minimum_z_position=-5

[stepper_a]
step_pin: PE3
dir_pin: PE2
enable_pin: !PE4
microsteps: 16
rotation_distance: 40
endstop_pin: PA15
homing_speed: 20
homing_retract_dist: 5
homing_retract_speed: 10
second_homing_speed: 2
position_endstop: 220
arm_length: 215
angle: 210

[stepper_b]
step_pin: PE0
dir_pin: PB9
enable_pin: !PE1
microsteps: 16
rotation_distance: 40
endstop_pin: PA12
angle: 330

[stepper_c]
step_pin: PB5
dir_pin: PB4
enable_pin: !PB8
microsteps: 16
rotation_distance: 40
endstop_pin: PC4
angle: 90

[tmc2208 stepper_a]
uart_pin: PC7
run_current: 1.0
hold_current: 0.5
interpolate: True
stealthchop_threshold: 160

[tmc2208 stepper_b]
uart_pin: PA3
run_current: 1.0
hold_current: 0.5
interpolate: True
stealthchop_threshold: 160

[tmc2208 stepper_c]
uart_pin: PC13
run_current: 1.0
hold_current: 0.5
interpolate: True
stealthchop_threshold: 160

[static_digital_output display_reset]
pins: !PC6, !PD13

[probe]
pin: !PA11
x_offset: -2.7571
y_offset: -2.0751
z_offset: 20.26
speed: 5.0
samples: 5
samples_result: average
sample_retract_dist: 3
samples_tolerance: 0.02
samples_tolerance_retries: 5

[delta_calibrate]
radius: 95
horizontal_move_z: 25
Speed: 10

[extruder]
step_pin: PD6
dir_pin: !PD3
enable_pin: !PB3
microsteps: 16
rotation_distance: 22.94595
gear_ratio: 66:22
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PC3
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PC1
control: pid
pid_kp: 14.529
pid_ki: 0.557
pid_kd: 94.802
min_temp: 0
max_temp: 255
max_extrude_only_distance: 110.0

[heater_bed]
heater_pin: PA0
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PC0
control: pid
pid_Kp: 325.10
pid_Ki: 63.35
pid_Kd: 417.10
min_temp: 0
max_temp: 130

[fan]
pin: PB1

#[mcu rpi]
#serial: /tmp/klipper_host_mcu

#[adxl345]
#cs_pin: rpi:None

#[resonance_tester]
#accel_chip: adxl345
#probe_points:
#    0,0,20  # an example

[endstop_phase]

#[bed_mesh]
#speed: 50
#horizontal_move_z: 25
#mesh_radius: 90
#mesh_origin: 0,0
#round_probe_count: 5
#fade_start: 1.0
#fade_end: 10.0
#split_delta_z: .025
#move_check_distance: 5.0
#mesh_pps: 2,2
#algorithm: lagrange

[gcode_arcs]
resolution: 1.0
#   An arc will be split into segments. Each segment's length will
#   equal the resolution in mm set above. Lower values will produce a
#   finer arc, but also more work for your machine. Arcs smaller than
#   the configured value will become straight lines. The default is
#   1mm.

[gcode_macro START_PRINT]
gcode:
    {% set BED_TEMP = params.BED_TEMP|default(80)|float %}
    {% set EXTRUDER_TEMP = params.EXTRUDER_TEMP|default(240)|float %}
    ;STARTGCODE
    M117 Initializing
    ; G90 ; use absolute coordinates
    M83 ; extruder relative mode
    M107
    G28 ;Home
    M140 S{BED_TEMP} ; set bed temp
    M190 S{BED_TEMP} ; wait for bed temp
    M104 S{EXTRUDER_TEMP} ; set extruder temp
    M109 S{EXTRUDER_TEMP} ; wait for extruder temp
    
    G92 E0
    G1 X-98 Y0 Z0.2 F4000 ; move to arc start
    G3 X0 Y-98 I98 Z0.2 E40 F400 ; lay arc stripe 90deg
    G0 Z1 
    G92 E0.0

[gcode_macro END_PRINT]
gcode:
    M107
    M104 S0
    M140 S0
    G92 E1
    G1 E-1 F300
    G28 X0 Y0
    ;M84
    M18 S180 ;disable motors after 180s

[gcode_macro UNLOAD_FILAMENT]
gcode:
    # Home the printer
    G28
    # Set target extruder temperature (wait only when heating)
    M109 S220
    # Put the E axis into relative mode
    M83
    # Push forward
    G1 E15 F150
    # Unload filament
    G1 E-600 F1800
    # put the E axis into absolute mode
    M82
    # Disable steppers
    M84

[gcode_macro LOAD_FILAMENT]
gcode:
    # Home the printer
    G28
    # Set target extruder temperature (wait only when heating)
    M109 S220
    # Put the E axis into relative mode
    M83
    # Fast load 
    G1 E550 F1800
    # Slow purge
    G1 E50 F150
    # Retract
    G1 E-8 F1800
    # put the E axis into absolute mode
    M82
    # Disable steppers
    M84
    
[gcode_macro PURGE_MORE]
gcode:
    # Set target extruder temperature (wait only when heating)
    M109 S220
    # Put the E axis into relative mode
    M83
    # Slow purge
    G1 E50 F150
    # Retract
    G1 E-8 F1800
    # put the E axis into absolute mode
    M82
    
[gcode_macro m900]
gcode:
  {% set K = params.K|default(0)|float %}
  SET_PRESSURE_ADVANCE ADVANCE={K}

[pause_resume]

[display_status] 

[gcode_macro PAUSE]
description: Pause the actual running print
rename_existing: PAUSE_BASE
# change this if you need more or less extrusion
variable_extrude: 1.0
gcode:
  ##### read E from pause macro #####
  {% set E = printer["gcode_macro PAUSE"].extrude|float %}
  ##### set park positon for x and y #####
  # default is your max posion from your printer.cfg
  {% set x_park = printer.toolhead.axis_maximum.x|float - 5.0 %}
  {% set y_park = printer.toolhead.axis_maximum.y|float - 5.0 %}
  ##### calculate save lift position #####
  {% set max_z = printer.toolhead.axis_maximum.z|float %}
  {% set act_z = printer.toolhead.position.z|float %}
  {% if act_z < (max_z - 2.0) %}
      {% set z_safe = 2.0 %}
  {% else %}
      {% set z_safe = max_z - act_z %}
  {% endif %}
  ##### end of definitions #####
  PAUSE_BASE
  G91
  {% if printer.extruder.can_extrude|lower == 'true' %}
    G1 E-{E} F2100
  {% else %}
    {action_respond_info("Extruder not hot enough")}
  {% endif %}
  {% if "xyz" in printer.toolhead.homed_axes %}
    G1 Z{z_safe} F900
    G90
    G1 X{x_park} Y{y_park} F6000
  {% else %}
    {action_respond_info("Printer not homed")}
  {% endif %} 

[gcode_macro RESUME]
description: Resume the actual running print
rename_existing: RESUME_BASE
gcode:
  ##### read E from pause macro #####
  {% set E = printer["gcode_macro PAUSE"].extrude|float %}
  #### get VELOCITY parameter if specified ####
  {% if 'VELOCITY' in params|upper %}
    {% set get_params = ('VELOCITY=' + params.VELOCITY)  %}
  {%else %}
    {% set get_params = "" %}
  {% endif %}
  ##### end of definitions #####
  {% if printer.extruder.can_extrude|lower == 'true' %}
    G91
    G1 E{E} F2100
  {% else %}
    {action_respond_info("Extruder not hot enough")}
  {% endif %}  
  RESUME_BASE {get_params}

[gcode_macro CANCEL_PRINT]
description: Cancel the actual running print
rename_existing: CANCEL_PRINT_BASE
gcode:
  TURN_OFF_HEATERS
  CANCEL_PRINT_BASE

[virtual_sdcard]
path: ~/gcode_files