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History of Klipper releases. Please see installation for information on installing Klipper.

Klipper 0.10.0

Available on 20210929. Major changes in this release:

  • Support for "Multi-MCU Homing". It is now possible for a stepper motor and its endstop to be wired to separate micro-controllers. This simplifies wiring of Z probes on "toolhead boards".
  • Klipper now has a Community Discord Server and a Community Discourse Server.
  • The Klipper website now uses the "mkdocs" infrastructure. There is also a Klipper Translations project.
  • Automated support for flashing firmware via sdcard on many boards.
  • New kinematic support for "Hybrid CoreXY" and "Hybrid CoreXZ" printers.
  • Klipper now uses rotation_distance to configure stepper motor travel distances.
  • The main Klipper host code can now directly communicate with micro-controllers using CAN bus.
  • New "motion analysis" system. Klipper's internal motion updates and sensor results can be tracked and logged for analysis.
  • Trinamic stepper motor drivers are now continuously monitored for error conditions.
  • Support for the rp2040 micro-controller (Raspberry Pi Pico boards).
  • The "make menuconfig" system now utilizes kconfiglib.
  • Many additional modules added: ds18b20, duplicate_pin_override, filament_motion_sensor, palette2, motion_report, pca9533, pulse_counter, save_variables, sdcard_loop, temperature_host, temperature_mcu
  • Several bug fixes and code cleanups.

Klipper 0.9.0

Available on 20201020. Major changes in this release:

  • Support for "Input Shaping" - a mechanism to counteract printer resonance. It can reduce or eliminate "ringing" in prints.
  • New "Smooth Pressure Advance" system. This implements "Pressure Advance" without introducing instantaneous velocity changes. It is also now possible to tune pressure advance using a "Tuning Tower" method.
  • New "webhooks" API server. This provides a programmable JSON interface to Klipper.
  • The LCD display and menu are now configurable using the Jinja2 template language.
  • The TMC2208 stepper motor drivers can now be used in "standalone" mode with Klipper.
  • Improved BL-Touch v3 support.
  • Improved USB identification. Klipper now has its own USB identification code and micro-controllers can now report their unique serial numbers during USB identification.
  • New kinematic support for "Rotary Delta" and "CoreXZ" printers.
  • Micro-controller improvements: support for stm32f070, support for stm32f207, support for GPIO pins on "Linux MCU", stm32 "HID bootloader" support, Chitu bootloader support, MKS Robin bootloader support.
  • Improved handling of Python "garbage collection" events.
  • Many additional modules added: adc_scaled, adxl345, bme280, display_status, extruder_stepper, fan_generic, hall_filament_width_sensor, htu21d, homing_heaters, input_shaper, lm75, print_stats, resonance_tester, shaper_calibrate, query_adc, graph_accelerometer, graph_extruder, graph_motion, graph_shaper, graph_temp_sensor, whconsole
  • Several bug fixes and code cleanups.

Klipper 0.9.1

Available on 20201028. Release containing only bug fixes.

Klipper 0.8.0

Available on 20191021. Major changes in this release:

  • New G-Code command template support. G-Code in the config file is now evaluated with the Jinja2 template language.
  • Improvements to Trinamic stepper drivers:
    • New support for TMC2209 and TMC5160 drivers.
    • Improved DUMP_TMC, SET_TMC_CURRENT, and INIT_TMC G-Code commands.
    • Improved support for TMC UART handling with an analog mux.
  • Improved homing, probing, and bed leveling support:
    • New manual_probe, bed_screws, screws_tilt_adjust, skew_correction, safe_z_home modules added.
    • Enhanced multi-sample probing with median, average, and retry logic.
    • Improved documentation for BL-Touch, probe calibration, endstop calibration, delta calibration, sensorless homing, and endstop phase calibration.
    • Improved homing support on a large Z axis.
  • Many Klipper micro-controller improvements:
    • Klipper ported to: SAM3X8C, SAM4S8C, SAMD51, STM32F042, STM32F4
    • New USB CDC driver implementations on SAM3X, SAM4, STM32F4.
    • Enhanced support for flashing Klipper over USB.
    • Software SPI support.
    • Greatly improved temperature filtering on the LPC176x.
    • Early output pin settings can be configured in the micro-controller.
  • New website with the Klipper documentation:
    • Klipper now has a logo.
  • Experimental support for polar and "cable winch" kinematics.
  • The config file can now include other config files.
  • Many additional modules added: board_pins, controller_fan, delayed_gcode, dotstar, filament_switch_sensor, firmware_retraction, gcode_arcs, gcode_button, heater_generic, manual_stepper, mcp4018, mcp4728, neopixel, pause_resume, respond, temperature_sensor tsl1401cl_filament_width_sensor, tuning_tower
  • Several bug fixes and code cleanups.

Klipper 0.7.0

Available on 20181220. Major changes in this release:

  • Klipper now supports "mesh" bed leveling
  • New support for "enhanced" delta calibration (calibrates print x/y dimensions on delta printers)
  • Support for run-time configuration of Trinamic stepper motor drivers (tmc2130, tmc2208, tmc2660)
  • Improved temperature sensor support: MAX6675, MAX31855, MAX31856, MAX31865, custom thermistors, common pt100 style sensors
  • Several new modules: temperature_fan, sx1509, force_move, mcp4451, z_tilt, quad_gantry_level, endstop_phase, bltouch
  • Expanded LCD display support:
    • Support for run-time menus
    • New display icons
    • Support for "uc1701" and "ssd1306" displays
  • Additional micro-controller support:
    • Klipper ported to: LPC176x (Smoothieboards), SAM4E8E (Duet2), SAMD21 (Arduino Zero), STM32F103 ("Blue pill" devices), atmega32u4
    • New Generic USB CDC driver implemented on AVR, LPC176x, SAMD21, and STM32F103
    • Performance improvements on ARM processors
  • The kinematics code was rewritten to use an "iterative solver"
  • New automatic test cases for the Klipper host software
  • Many new example config files for common off-the-shelf printers
  • Documentation updates for bootloaders, benchmarking, micro-controller porting, config checks, pin mapping, slicer settings, packaging, and more
  • Several bug fixes and code cleanups

Klipper 0.6.0

Available on 20180331. Major changes in this release:

  • Enhanced heater and thermistor hardware failure checks
  • Support for Z probes
  • Initial support for automatic parameter calibration on deltas (via a new delta_calibrate command)
  • Initial support for bed tilt compensation (via bed_tilt_calibrate command)
  • Initial support for "safe homing" and homing overrides
  • Initial support for displaying status on RepRapDiscount style 2004 and 12864 displays
  • New multi-extruder improvements:
    • Support for shared heaters
    • Initial support for dual carriages
  • Support for configuring multiple steppers per axis (eg, dual Z)
  • Support for custom digital and pwm output pins (with a new SET_PIN command)
  • Initial support for a "virtual sdcard" that allows printing directly from Klipper (helps on machines too slow to run OctoPrint well)
  • Support for setting different arm lengths on each tower of a delta
  • Support for G-Code M220/M221 commands (speed factor override / extrude factor override)
  • Several documentation updates:
    • Many new example config files for common off-the-shelf printers
    • New multiple MCU config example
    • New bltouch sensor config example
    • New FAQ, config check, and G-Code documents
  • Initial support for continuous integration testing on all github commits
  • Several bug fixes and code cleanups

Klipper 0.5.0

Available on 20171025. Major changes in this release:

  • Support for printers with multiple extruders.
  • Initial support for running on the Beaglebone PRU. Initial support for the Replicape board.
  • Initial support for running the micro-controller code in a real-time Linux process.
  • Support for multiple micro-controllers. (For example, one could control an extruder with one micro-controller and the rest of the printer with another.) Software clock synchronization is implemented to coordinate actions between micro-controllers.
  • Stepper performance improvements (20Mhz AVRs up to 189K steps per second).
  • Support for controlling servos and support for defining nozzle cooling fans.
  • Several bug fixes and code cleanups

Klipper 0.4.0

Available on 20170503. Major changes in this release:

  • Improved installation on Raspberry Pi machines. Most of the install is now scripted.
  • Support for corexy kinematics
  • Documentation updates: New Kinematics document, new Pressure Advance tuning guide, new example config files, and more
  • Stepper performance improvements (20Mhz AVRs over 175K steps per second, Arduino Due over 460K)
  • Support for automatic micro-controller resets. Support for resets via toggling USB power on Raspberry Pi.
  • The pressure advance algorithm now works with look-ahead to reduce pressure changes during cornering.
  • Support for limiting the top speed of short zigzag moves
  • Support for AD595 sensors
  • Several bug fixes and code cleanups

Klipper 0.3.0

Available on 20161223. Major changes in this release:

  • Improved documentation
  • Support for robots with delta kinematics
  • Support for Arduino Due micro-controller (ARM cortex-M3)
  • Support for USB based AVR micro-controllers
  • Support for "pressure advance" algorithm - it reduces ooze during prints.
  • New "stepper phased based endstop" feature - enables higher precision on endstop homing.
  • Support for "extended g-code" commands such as "help", "restart", and "status".
  • Support for reloading the Klipper config and restarting the host software by issuing a "restart" command from the terminal.
  • Stepper performance improvements (20Mhz AVRs up to 158K steps per second).
  • Improved error reporting. Most errors now shown via the terminal along with help on how to resolve.
  • Several bug fixes and code cleanups

Klipper 0.2.0

Initial release of Klipper. Available on 20160525. Major features available in the initial release include:

  • Basic support for cartesian printers (steppers, extruder, heated bed, cooling fan).
  • Support for common g-code commands. Support for interfacing with OctoPrint.
  • Acceleration and lookahead handling
  • Support for AVR micro-controllers via standard serial ports
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