feat(logistics): working klipper

nixos/klipper.nix

@@ -4,6 +4,195 @@ _: {
       enable = true;
       octoprintIntegration = true;
       settings = {
+        filter = {};
+
+        print_stats = {};
+
+        virtual_sdcard = {
+          path = "/printersd/";
+        };
+
+        dirzctl = {};
+
+        hx711s = {
+          sensor0_clk_pin = "PA4";
+          sensor0_sdo_pin = "PC6";
+        };
+
+        prtouch = {
+          sensor_x = 32;
+          sensor_y = 30;
+          clr_noz_start_x = 15;
+          clr_noz_start_y = 25;
+          clr_noz_len_y = 15;
+          s_hot_min_temp = 160;
+          s_hot_max_temp = 200;
+          s_bed_max_temp = 60;
+          show_msg = true;
+          wipe_retract_distance = 2;
+        };
+
+        stepper_x = {
+          step_pin = "PC2";
+          dir_pin = "!PB9";
+          enable_pin = "!PC3";
+          microsteps = 16;
+          rotation_distance = 40;
+          endstop_pin = "~!PA5";
+          position_endstop = -6;
+          position_min = -6;
+          position_max = 230;
+          homing_speed = 80;
+        };
+
+        "tmc2208 stepper_x" = {
+          uart_pin = "PB12";
+          run_current = 0.60;
+          sense_resistor = 0.150;
+          interpolate = true;
+        };
+
+        stepper_y = {
+          step_pin = "PB8";
+          dir_pin = "PB7";
+          enable_pin = "!PC3";
+          microsteps = 16;
+          rotation_distance = 40;
+          endstop_pin = "~!PA6";
+          position_endstop = -14;
+          position_min = -14;
+          position_max = 230;
+          homing_speed = 80;
+        };
+
+        "tmc2208 stepper_y" = {
+          uart_pin = "PB13";
+          run_current = 0.60;
+          sense_resistor = 0.150;
+          interpolate = true;
+        };
+
+        stepper_z = {
+          step_pin = "PB6";
+          dir_pin = "!PB5";
+          enable_pin = "!PC3";
+          microsteps = 16;
+          rotation_distance = 8;
+          endstop_pin = "probe:z_virtual_endstop";
+          position_min = -3;
+          position_max = 250;
+          homing_speed = 4;
+          second_homing_speed = 1;
+          homing_retract_dist = 2.0;
+        };
+
+        "tmc2208 stepper_z" = {
+          uart_pin = "PB14";
+          run_current = 0.8;
+          sense_resistor = 0.150;
+          interpolate = true;
+        };
+
+        extruder = {
+          max_extrude_only_distance = 100.0;
+          step_pin = "PB4";
+          dir_pin = "PB3";
+          enable_pin = "!PC3";
+          microsteps = 16;
+          rotation_distance = 7.44;
+          nozzle_diameter = 0.400;
+          filament_diameter = 1.750;
+          heater_pin = "PA1";
+          sensor_type = "EPCOS 100K B57560G104F";
+          sensor_pin = "PC5";
+          control = "pid";
+          pid_Kp = 27.142;
+          pid_Ki = 1.371;
+          pid_Kd = 134.351;
+          min_temp = 0;
+          max_temp = 260;
+        };
+
+        heater_bed = {
+          heater_pin = "PB2";
+          sensor_type = "EPCOS 100K B57560G104F";
+          sensor_pin = "PC4";
+          control = "pid";
+          pid_kp = 66.371;
+          pid_ki = 0.846;
+          pid_kd = 1301.702;
+          min_temp = 0;
+          max_temp = 100;
+        };
+
+        "heater_fan hotend_fan" = {
+          pin = "PC1";
+        };
+
+        fan = {
+          pin = "PA0";
+        };
+
+        mcu = {
+          serial = "/dev/serial/by-id/usb-1a86_USB_Serial-if00-port0";
+          restart_method = "command";
+        };
+
+        printer = {
+          kinematics = "cartesian";
+          max_velocity = 250;
+          max_accel = 2500;
+          max_z_velocity = 5;
+          square_corner_velocity = 5.0;
+          max_z_accel = 100;
+        };
+
+        bltouch = {
+          sensor_pin = "^PC14";
+          control_pin = "PC13";
+          x_offset = -23.0;
+          y_offset = -14.5;
+          z_offset = 2.65;
+          speed = 20;
+          pin_move_time = 0.4;
+          stow_on_each_sample = false;
+          probe_with_touch_mode = true;
+        };
+
+        safe_z_home = {
+          home_xy_position = "134,123";
+          speed = 150;
+          z_hop = 10;
+          z_hop_speed = 10;
+        };
+
+        bed_mesh = {
+          speed = 120;
+          horizontal_move_z = 5;
+          mesh_min = "30,30";
+          mesh_max = "207,215.5";
+          probe_count = "5,5";
+          algorithm = "bicubic";
+        };
+
+        screws_tilt_adjust = {
+          screw1 = "54.5,45.5";
+          screw1_name = "front left screw";
+          screw2 = "224.5,45.5";
+          screw2_name = "front right screw";
+          screw3 = "224.5,215.5";
+          screw3_name = "rear right screw";
+          screw4 = "54.5,215.5";
+          screw4_name = "rear left screw";
+          horizontal_move_z = 10.;
+          speed = 50.;
+          screw_thread = "CCW-M4";
+        };
+
+        e3v3se_display = {
+          language = "english";
+          logging = true;
+        };
       };
     };
   };

nixos/moonraker.nix

@@ -3,6 +3,7 @@ _: {
     moonraker = {
       enable = true;
       address = "0.0.0.0";
+      user = "octoprint";
       port = 7125; # it's the default but i'm specifying it anyway
       settings = {
         octoprint_compat = { };

nixos/octoprint.nix

@@ -71,7 +71,7 @@ in {
         serial = {
           port = "/dev/ttyUSB0";
           baudrate = 115200;
-          autoconnect = true;
+          autoconnect = false;
         };
       }
       {

overlays/print.nix

@@ -5,6 +5,8 @@ in {
     plugins = [final.curaPlugins.octoprint];
   };
 
+  klipper = prev.callPackage ../packages/klipper.nix {};
+
   octoprint = let
     mapPlugin = python3Packages: _: plugin:
       plugin.override {

packages/klipper.nix

@@ -0,0 +1,84 @@
+{ stdenv
+, lib
+, fetchFromGitHub
+, python3
+, unstableGitUpdater
+, makeWrapper
+}:
+
+stdenv.mkDerivation rec {
+  pname = "klipper";
+  version = "0.12.0-unstable-2024-07-05";
+
+  src = fetchFromGitHub {
+    owner = "kittywitch";
+    repo = "ender3-v3-se-klipper-with-display";
+    rev = "c2fb1cf76812b974152ecc90cb696c302384adbd";
+    hash = "sha256-Rx5+ECHlCG1trJnF/Xs4cSUTrIcAry/4RrZRMaPoPeg=";
+  };
+
+  sourceRoot = "${src.name}/klippy";
+
+  # NB: This is needed for the postBuild step
+  nativeBuildInputs = [
+    (python3.withPackages ( p: with p; [ cffi ] ))
+    makeWrapper
+  ];
+
+  buildInputs = [ (python3.withPackages (p: with p; [ can cffi pyserial greenlet jinja2 markupsafe numpy ])) ];
+
+  # we need to run this to prebuild the chelper.
+  postBuild = ''
+    python ./chelper/__init__.py
+  '';
+
+  # Python 3 is already supported but shebangs aren't updated yet
+  postPatch = ''
+    for file in klippy.py console.py parsedump.py; do
+      substituteInPlace $file \
+        --replace '/usr/bin/env python2' '/usr/bin/env python'
+    done
+
+    # needed for cross compilation
+    substituteInPlace ./chelper/__init__.py \
+      --replace 'GCC_CMD = "gcc"' 'GCC_CMD = "${stdenv.cc.targetPrefix}cc"'
+  '';
+
+  # NB: We don't move the main entry point into `/bin`, or even symlink it,
+  # because it uses relative paths to find necessary modules. We could wrap but
+  # this is used 99% of the time as a service, so it's not worth the effort.
+  installPhase = ''
+    runHook preInstall
+    mkdir -p $out/lib/klipper
+    cp -r ./* $out/lib/klipper
+
+    # Moonraker expects `config_examples` and `docs` to be available
+    # under `klipper_path`
+    cp -r $src/docs $out/lib/docs
+    cp -r $src/config $out/lib/config
+
+    # Add version information. For the normal procedure see https://www.klipper3d.org/Packaging.html#versioning
+    # This is done like this because scripts/make_version.py is not available when sourceRoot is set to "${src.name}/klippy"
+    echo "${version}-NixOS" > $out/lib/klipper/.version
+
+    mkdir -p $out/bin
+    chmod 755 $out/lib/klipper/klippy.py
+    makeWrapper $out/lib/klipper/klippy.py $out/bin/klippy --chdir $out/lib/klipper
+    runHook postInstall
+  '';
+
+  passthru.updateScript = unstableGitUpdater {
+    url = meta.homepage;
+    tagPrefix = "v";
+  };
+
+  meta = with lib; {
+    description = "Klipper 3D printer firmware";
+    mainProgram = "klippy";
+    homepage = "https://github.com/KevinOConnor/klipper";
+    maintainers = with maintainers; [ lovesegfault zhaofengli cab404 ];
+    platforms = platforms.linux;
+    license = licenses.gpl3Only;
+  };
+}
+