# For the ZNP Robin Nano DW v2.2 board:
#   - Compile with the processor model STM32F401.
#   - Select the 32KiB bootloader,
#   - Select (Serial (on # USART1 PA10/PA9) for the communication interface.
#   - Select (Serial (on # USART2 PA3/PA2) if you want to use the serial UART pins on J17 (wifi section)
# Note that the "make flash" command does not work with ZNP Robin boards. After running "make", run the following command:
# cp out/klipper.bin out/ZNP_ROBIN_NANO.bin
#
# Copy the file out/ZNP_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.

#[include timelapse.cfg]

[exclude_object]
[virtual_sdcard]
path: /home/biqu/printer_data/gcodes

# [include KAMP_Settings.cfg]

[include accessibility.cfg]

[include main_macro.cfg]

[include testing.cfg]

[include pause_resume_cancel.cfg]

[pause_resume]

[display_status]


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

[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}

[mcu]
serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
restart_method: command

[led LED_Light]
white_pin: PB9
initial_white: 1.0

#[output_pin LED_Light] #toggle for LED Light - use this instead of [LED] for sonic pad
#Pin: PB9
#cycle_time: 0.01
#pwm: true
#value: 1

[printer]
kinematics: cartesian
max_velocity: 500
max_accel: 3000
max_z_velocity: 15
max_z_accel: 100
square_corner_velocity: 5
# Use those higher values just to configure Input Shaper
#max_accel: 10000
#max_accel_to_decel: 10000

[stepper_x]
step_pin: !PC12
dir_pin: PB3
enable_pin: !PD2
microsteps: 16
rotation_distance: 40
endstop_pin: PA13
position_endstop: -6.0
position_min: -6
position_max: 235
homing_speed: 50

[stepper_y]
step_pin: PC11
dir_pin: PA15
enable_pin: !PC10
microsteps: 16
rotation_distance: 40
endstop_pin: PB8
position_endstop: 0
position_max: 235
homing_speed: 50

[stepper_z]
step_pin: PC7
dir_pin: !PC9
enable_pin: !PC8
rotation_distance: 8
microsteps: 16
position_min: -2
position_max: 280
endstop_pin: probe:z_virtual_endstop # Use Z- as endstop
homing_speed: 5.0


[extruder]
max_extrude_only_distance: 100.0
step_pin: PB10
dir_pin: PB1
enable_pin: !PC6
microsteps: 16
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PA6
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PC1
min_temp: 0
max_temp: 250
# Calibrate E-Steps https://www.klipper3d.org/Rotation_Distance.html#calibrating-rotation_distance-on-extruders
rotation_distance: 6.9
# Calibrate PID: https://www.klipper3d.org/Config_checks.html#calibrate-pid-settings
#  - Example: PID_CALIBRATE HEATER=extruder TARGET=200
control = pid
pid_kp = 30.356
pid_ki = 1.857
pid_kd = 124.081
# Calibrate PA: https://www.klipper3d.org/Pressure_Advance.html
#pressure_advance = 0.600

[heater_bed]
heater_pin: PA5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PC0
pwm_cycle_time: 0.020 # set to 0.0166 if your grid runs on 60Hz to fix lights flickering
max_temp: 110
min_temp: 0
# Calibrate PID: https://www.klipper3d.org/Config_checks.html#calibrate-pid-settings
#  - Example: PID_CALIBRATE HEATER=heater_bed TARGET=60
control = pid
pid_kp = 64.230
pid_ki = 0.723
pid_kd = 1425.905

[heater_fan hotend_fan]
pin: PB0
heater: extruder
heater_temp: 50.0

[fan]
pin: PA7

[force_move]
enable_force_move: True

#[safe_z_home]
#home_xy_position: 117.5, 117.5
#z_hop: 10

[probe]
pin: ^PA8
speed: 5
lift_speed: 15
samples: 1
x_offset: -28
y_offset: 20
# Calibrate probe: https://www.klipper3d.org/Bed_Level.html
# - Example: PROBE_CALIBRATE, then adjust with TESTZ Z=+/-X
#z_offset = -0.100

[filament_switch_sensor filament_sensor]
pause_on_runout: true
switch_pin: PB4

[bed_mesh]
speed: 300
horizontal_move_z: 5.0
mesh_min: 30,30
mesh_max: 205,205
probe_count: 6,6
algorithm: bicubic
fade_start: 1
fade_end: 10
fade_target: 0

[input_shaper]
# Calibrate IS: https://www.klipper3d.org/Resonance_Compensation.html
shaper_type_y = mzv
shaper_freq_y = 38.2
shaper_type_x = ei
shaper_freq_x = 79.6

[temperature_sensor raspberry_pi]
sensor_type: temperature_host
#min_temp: 10
#max_temp: 105

[temperature_sensor mcu_temp]
sensor_type: temperature_mcu
sensor_temperature1: 25
sensor_adc1: 0.210317
#min_temp: 0
#max_temp: 105

[gcode_macro M420]
description: Load the current mesh
gcode:
  BED_MESH_PROFILE LOAD=default

[gcode_macro G29]
description: creates automated homing and bed mesh
gcode:
  G28
  BED_MESH_CALIBRATE
  DATA_SAVE

#*# <---------------------- SAVE_CONFIG ---------------------->
#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
#*#
#*# [probe]
#*# z_offset = 1.075
#*#
#*# [bed_mesh default]
#*# version = 1
#*# points =
#*# 	0.020000, 0.105000, 0.127500, 0.070000
#*# 	-0.067500, 0.025000, 0.077500, 0.037500
#*# 	-0.117500, -0.020000, 0.042500, 0.005000
#*# 	-0.195000, -0.072500, 0.007500, -0.002500
#*# tension = 0.2
#*# min_x = 45.0
#*# algo = bicubic
#*# y_count = 4
#*# mesh_y_pps = 2
#*# min_y = 20.0
#*# x_count = 4
#*# max_y = 200.0
#*# mesh_x_pps = 2
#*# max_x = 199.97