firmware/docs/toolchange.md

The toolchanger mod

FlashForge Creator 5 Pro — native toolchanger for Klipper/Mainsail.

Makes the Creator 5 Pro's 4-tool toolchanger and print lifecycle work for prints started from Mainsail/Moonraker (e.g. sliced in OrcaSlicer), without the stock touchscreen app in the loop. Based on reverse-engineering the stock firmwareExe binary (addresses referenced in the source comments), with some behaviour improved along the way — deliberate divergences are documented in the file headers.

This is the design side. The checks to run before a first print are in Your first print. What is on this page is what the extras do and why, for someone changing them.

What's in here

File	Goes to (on the printer)	What it does
pkgs/klipper/payload/klipper/klippy/extras/ff_toolchange.py	/usr/data/anvil/klipper/klippy/extras/	The toolchanger: T0..T3, dock/grab state machine with sensor polling and retries, per-tool G-code offsets (the absolute ~3.2 mm bed-frame Z is applied at every grab), TOOLCHANGE_SET_PRINT_OFFSET (the print-start thermal/bed/layer Z terms), TOOL_Z_ADJUST (per-tool babystep, live, saved on request), TOOLCHANGE_STATUS, TOOLCHANGE_PARK
pkgs/helixscreen/payload/helixscreen/config/printer_database.d/flashforge_creator5.json	HelixScreen config/printer_database.d/	Printer-database entry so HelixScreen auto-detects both Creator 5 models as tool changers (the Pro and the non-Pro differ only by the chamber heater)
pkgs/klipper/payload/klipper/klippy/extras/ff_print.py	/usr/data/anvil/klipper/klippy/extras/	[ff_print] — takes over SDCARD_PRINT_FILE and M23, reads bed/nozzle/initial tool/first-layer height out of the file itself, and calls FF_BEFORE_PRINT_START before the file's first line and FF_AFTER_PRINT_END once the job leaves the printing state. Declared in ff-print-macros.cfg; holds no policy of its own
pkgs/klipper/payload/klipper/klippy/extras/ff_tool.py	/usr/data/anvil/klipper/klippy/extras/	[ff_tool n] — one section per tool; dock_x/dock_y, nozzle_x/y/z and z_adjust are all autosaved (import or calibration + SAVE_CONFIG)
pkgs/klipper/payload/klipper/klippy/extras/ff_tool_offset.py	/usr/data/anvil/klipper/klippy/extras/	TOOL_CALIBRATE_TOOL_OFFSET / TOOL_LOCATE_SENSOR / TOOL_OFFSET_STATUS — the touchscreen's nozzle XY/Z offset calibration, recovered from the binary and reimplemented in Klipper
pkgs/klipper/payload/klipper/klippy/extras/ff_legacy.py	/usr/data/anvil/klipper/klippy/extras/	FF_IMPORT_FIRMWARE_CONFIG — one-shot import of the factory/touchscreen JSON into Klipper config. The command and nothing else: no startup behaviour. bin/ff-startup.py is what runs it on the first boot
pkgs/klipper-config/payload/config/ff-toolchange.cfg	/usr/data/config/	empty [ff_tool 0..3] sections (the per-unit dock/nozzle data is autosaved, nothing unit-specific ships), [ff_toolchange] feeds/geometry, the G28 dock-first wrapper
pkgs/klipper-config/payload/config/ff-tool-offset.cfg	/usr/data/config/	[ff_tool_offset] — probe geometry and guards for the calibration commands
pkgs/klipper-config/payload/config/ff-legacy.cfg	/usr/data/config/	[ff_legacy] — stays included permanently; declares the section and, optionally, firmware_config_dir
pkgs/anvil-core/payload/bin/ffscreen.py	/usr/data/anvil/bin/	A few lines of text and a progress bar drawn straight onto /dev/fb0, geometry read from sysfs. The framebuffer is portrait 480×800@32 and the panel is that buffer turned 90° clockwise (landscape 800×480) — established from FlashForge's own /usr/prog/start.img, 1536000 bytes, which only decodes into a picture read that way. Drawing is done in landscape coordinates and each rectangle is rotated on the way into the buffer, so it costs arithmetic per rectangle and nothing per pixel. All of the first boot happens before HelixScreen starts, so without it the panel is black for the longest wait of the install — which reads as a brick and invites a power cut mid-SAVE_CONFIG. make boot-screen renders every frame to PNG on the host; make boot-screen-sim renders the same frames inside the replica using FlashForge's own python3 on MIPS (they come out byte-identical); qa/replica/test_boot_screen.py is the gate
pkgs/anvil-core/payload/bin/ff-startup.py	/usr/data/anvil/bin/	Everything before HelixScreen. Every boot it hands the toolhead boards over from their bootloaders (calling ff_mcu_bringup.py directly — it owns when klippy opens the ports, so it owns doing this first), starts klipper, and waits for klipper + moonraker to be ready, naming the board or service holding things up and re-handing the boards over on each retry. It runs as two s6-rc oneshots (mcu-bringup, then ff-startup), and the UI depends on the second — starting the UI before that is what produces a screen reporting a disconnected printer with no clue which board is missing. First boot only, once that has happened, it sends FF_IMPORT_FIRMWARE_CONFIG and SAVE_CONFIG over the moonraker API and stamps /usr/data/anvil/.firmware-config-imported. Only a verified save stamps, so a slow boot retries. It always runs and always waits — the MOD_STARTUP and MOD_IMPORT switches went with anvil.conf
pkgs/klipper-config/payload/config/ff-print-macros.cfg	/usr/data/config/	START_PRINT / END_PRINT / PAUSE / RESUME / CANCEL_PRINT, reconstructed from the app's sequences, plus the _FF_PREFLIGHT calibration and tool-presence gate; declares [ff_print] and the FF_BEFORE_PRINT_START / FF_AFTER_PRINT_END entry points it calls
pkgs/klipper-config/payload/config/ff-filament.cfg	/usr/data/config/	LOAD_FILAMENT / UNLOAD_FILAMENT / PURGE — the touchscreen's filament-load sequence (grab tool, purge chute, feed) recovered from the binary; unload is a designed retract (the stock app has none)
pkgs/klipper-config/payload/config/ff-runout.cfg	/usr/data/config/	Runout / clog handling: gives the stock fd_ex* / fm_ex* sensors a runout_gcode that pauses a Mainsail print when the mounted tool runs out or clogs (the app's E0162 / E0163, reported here in plain words); ff_toolchange arms only the mounted tool's sensors
pkgs/klipper-config/payload/config/printer.base.cfg	$MODDIR/config/ -> symlinked to /usr/data/config/printer.base.cfg	FlashForge's printer.base.cfg with the chamber block replaced by [include printer.chamber.cfg]. Klipper can override an option but cannot un-declare a section, and the plain Creator 5 has no chamber heating element, so its heater must be absent rather than neutralised. bin/unpack.sh compares this against each stock package it unpacks and warns if FlashForge's has changed
Creator5.cfg · Creator5Pro.cfg	$MODDIR/config/chamber/<Machine>.cfg -> symlinked to /usr/data/config/printer.chamber.cfg	The one per-model difference: the Pro gets [heater_generic chamber_heater] + [verify_heater] verbatim from FlashForge, the Creator 5 gets only [temperature_sensor chamber] on the same pin. Both ship in anvil-klipper-config and anvil-link-prog.sh links whichever the printer asks for, reading MACHINE= out of FlashForge's own app_startup.sh. They used to be a package per model, which Conflicted — each owned config/printer.chamber.cfg, so the package manager refused the pair and the build had to choose. Nothing is edited at build time, and the payload is no longer model-specific
pkgs/klipper-config/payload/config/ff-chamber.cfg	/usr/data/config/	M141 / M191 for the chamber heater (Klipper has neither, and the stock app drove the chamber only from its own UI), plus the gate: the macros ask Klipper whether heater_generic chamber_heater exists, so a non-zero chamber target is refused on a machine that does not declare one. Nothing to keep in sync; identical in every package
docs/notes/	(reference only)	Condensed reverse-engineering notes: what the stock app actually does, with binary addresses

⚠️ Before you start

• The eddy probe's Z home is ~3.2 mm below the real bed plane. The stock app compensates with an absolute SET_GCODE_OFFSET Z=+3.2xx at print start. Here every T<n> grab applies that tool's gap (nozzle_z − station_z + z_adjust) as the Z offset, so Z=0 is the bed whenever a tool is mounted; START_PRINT's TOOLCHANGE_SET_PRINT_OFFSET only adds the thermal/bed/thin-layer terms — small, but not negligible: NOZZLE=220 BED=80 (the example below) gives 0.045 mm, and a bed at 100 °C or above adds a further 0.08 mm. With no tool mounted, or on an uncalibrated machine, Z=0 is still ~3.2 mm below the plate — the print gate refuses to start in that state.
• Where the numbers live. Nothing is read from firmwareExe's JSON at runtime any more. Feeds and staging positions ([ff_toolchange]) are plain config in ff-toolchange.cfg. Per-unit values — dock_x/dock_y, nozzle_x/y/z and z_adjust per tool, station_x/y/z, cylinder_x/y — are written by the import/calibration commands (configfile.set) and persisted with SAVE_CONFIG into the #*# block at the end of printer.cfg, exactly like PID or input-shaper results. Never put those autosaved options into an included .cfg: this Klipper fork's SAVE_CONFIG refuses with "conflicts with included value" and the calibration cannot be saved.
• Still never edit the JSON under /usr/data/firmwareRes/config/. This module no longer reads it, but the touchscreen app still does and rewrites those files wholesale — leave it alone.
• Klipper lives on the data partition. The extras install under /usr/data/anvil/klipper/klippy/extras/, which a FlashForge OTA cannot delete — but an OTA rewrites the software component the mod boots from, so re-flash the mod after one. The #*# block in printer.cfg survives either way.

Install

A package built from this repo needs no config editing at all. It ships:

• the ff_*.py extras, inside the klippy tree anvil-klipper installs
• the ff-*.cfg, to /usr/data/config/ (runFirmwareExe.sh, keeping any you edited and leaving the new one as .mod-new)
• the [include] lines for all seven, at the end of printer.base.cfg — which the stock run.sh force-copies to /usr/data/config/ on every flash

printer.cfg is never touched by any of that, by design: it is the user's file. That is also why the includes live in printer.base.cfg and not there — and it makes the undo button work, since flashing the stock FlashForge package restores its own printer.base.cfg and the includes go with it.

Flash, and your unit's calibration imports itself on the first boot — step 5 below says how, and step 6 how to check it.

By hand

For dropping a single edited file onto a printer that is already modded. On the printer (ssh as pwned — this assumes a jailbroken printer; how to get root/ssh access is covered in the community Discord):

# 1. the klippy extras (data partition — the tree the klipper service runs)
scp pkgs/klipper/payload/klipper/klippy/extras/ff_*.py \
    pwned@PRINTER:/usr/data/anvil/klipper/klippy/extras/

# 2. the config files (data partition — survives OTA)
scp pkgs/klipper-config/payload/config/ff-*.cfg \
    pwned@PRINTER:/usr/data/config/

3. Make sure something includes them. A flashed printer already does, at the end of printer.base.cfg. All seven are required — they are not optional drop-ins, and without them Klipper comes up as a plain printer with no toolchanger:

[include ff-toolchange.cfg]
[include ff-tool-offset.cfg]
[include ff-filament.cfg]
[include ff-print-macros.cfg]
[include ff-runout.cfg]        ; after printer.base.cfg (overrides its sensor sections)
[include ff-chamber.cfg]       ; M141/M191; follows whatever printer.chamber.cfg declared
[include ff-legacy.cfg]        ; harmless to leave in — see step 7

If you put these in printer.cfg instead, they must go ABOVE the #*# <---------------------- SAVE_CONFIG ----------------------> marker. Klipper treats any non-#*# line below that marker as corruption, discards the entire autosave block, and every calibrated value — PID, mesh, shaper, nozzle and dock positions — stops being read.

Only two ordering rules are real, and both are about one file overriding another's values, which Klipper applies in include order: ff-runout.cfg after the sensor sections in printer.base.cfg, and ff-chamber.cfg after printer.chamber.cfg. Placement relative to [virtual_sdcard] does not matter — ff_print takes SDCARD_PRINT_FILE/M23 over at klippy:connect, once every section is loaded — and neither does placement relative to the commands the G28 and SHAPER_CALIBRATE wrappers rename, since gcode_macro defers its rename to klippy:connect as well.

4. RESTART (or reboot).

5. The factory/touchscreen calibration imports itself on the first boot after the flash — driven from outside Klipper by bin/ff-startup.py, which the firmwareExe wrapper runs ahead of HelixScreen. It waits until klipper and moonraker are up — those two and nothing else, since that is what it talks to; the browser UI gets a short grace period and is then ignored, so a Fluidd build or one with no browser UI at all still migrates — then sends the two commands below over the moonraker API: [ff_legacy] reads extruder.json / test.json / zoffset.json and stages your unit's dock coordinates, nozzle and station values, station start point and any per-tool Z tune, and SAVE_CONFIG persists them into printer.cfg's #*# block. That save restarts Klipper once, before the UI is up: the wizard never meets an uncalibrated machine. Then it stamps /usr/data/anvil/.firmware-config-imported and never runs again — delete the stamp to redo it. To skip the migration entirely, create the stamp before the first boot; there is no longer a switch for it. The manual form, for inspecting or after a RESTORE:

   FF_IMPORT_FIRMWARE_CONFIG            ; APPLY=0 to only print, stage nothing
   SAVE_CONFIG
   

   Only a save it can verify writes the stamp. A boot where the heater board needed several klippy restarts simply times out and tries again next boot; /usr/data/logs/anvil-boot.log says which service it was waiting on.

   Nothing to paste either way; the import only prints an [ff_toolchange] snippet if a feed in the JSON differs from the running config (it does not on a stock unit).

6. TOOLCHANGE_STATUS and TOOL_OFFSET_STATUS — every tool should show a nozzle triple and a dock position, the station z must be present; nothing should say NOT CALIBRATED, "no dock position" or "unsaved calibration pending".

7. Optionally remove the [include ff-legacy.cfg] line and RESTART. Not required: the import returns early as soon as any tool has a nozzle position, so the section is inert once the import has been saved. A flashed printer keeps it included.

Calibration

The nozzle XY/Z offset calibration is the touchscreen's own sequence (testEddyExtruderOffsetForwardTwoCheck, recovered from the binary — see docs/notes/45-tool-offset-calibration.md and 46-offset-calibration-recovered.md), constants included. Take the PEI sheet off first — the calibration station sits below the bed plane. Nothing asks you to promise that: both commands park the carriage and measure it, probing the station Z with the bare carriage (it must not land more than 0.8 mm above the calibrated station_z — the check is one-sided, since a plate can only hold the probe high) and sweeping sideways for the circle's edge. A plate left on lands the Z probe high and has no edge, so the command refuses before any nozzle descends (PLATE_CHECK=0 or plate_check: False skips it). Home, then:

CALIBRATE_TOOL_OFFSETS   ; or, by hand:
TOOL_LOCATE_SENSOR       ; empty carriage, parks the mounted tool for you
SELECT_TOOL T=0
TOOL_CALIBRATE_TOOL_OFFSET   ; measures whatever is on the carriage
SAVE_CONFIG

TOOL_LOCATE_SENSOR probes the fixed under-bed station with the empty carriage (eddy frame) and stores station_x/y/z; TOOL_CALIBRATE_TOOL_OFFSET touches the station's cylinder in four directions with the mounted tool's nozzle, fits a circle, repeats the pass centred on that fit and stores the nozzle's absolute nozzle_x/y/z. Results are station-frame absolutes per tool, so recalibrating one tool leaves the others valid; nozzle_z − station_z is the ~3.2 mm gap the print-start Z offset uses. Re-run TOOL_LOCATE_SENSOR whenever the station or bed is disturbed.

CALIBRATE_TOOL_OFFSETS runs both passes in one command. It is klipper-toolchanger's documented entry point, so it is the name HelixScreen's setup wizard and other UIs look for — the two commands above are what it calls. calibration.md is the operator's walkthrough: the order, the expected output, and every refusal the commands can raise.

Probe sampling. Both commands take klipper-toolchanger's parameters — SAMPLES, SAMPLES_TOLERANCE, SAMPLES_TOLERANCE_RETRIES, SAMPLES_RESULT (average or median), SAMPLE_RETRACT_DIST, PROBE_SPEED — applied to every probe of the run, or set once in [ff_tool_offset]. Left alone they follow the fork's own [e_stop <axis>] settings, which already sample: three touches, spread rejected above error_v (0.02 mm), retried up to main_cycle_cnt times, back_v retract between them, averaged. So the defaults probe exactly as before this was reachable; the parameters widen or narrow that, and add the median upstream offers and the fork does not. Upstream's LIFT_SPEED has no counterpart: the retract between touches runs along the probe axis, at PROBE_SPEED.

TOOL_CALIBRATE_TOOL_OFFSET SAMPLES=5 SAMPLES_RESULT=median

Note on the word "gap": station_z is where the empty carriage trips the station, and the feature it trips sits about 12.4 mm +X of the nozzle and lower (see notes/46-offset-calibration-recovered.md). So nozzle_z − station_z is a nozzle-to-station-trigger distance, not a nozzle-to-eddy-coil one — the number is right, the mental picture of an eddy measurement is not.

Per-tool first-layer tuning: Klipper's SET_GCODE_OFFSET Z_ADJUST= babystep is one global number. Use

TOOL_Z_ADJUST TOOL=2 ADJUST=-0.02          ; live, saves nothing
TOOL_Z_ADJUST TOOL=2 ADJUST=-0.02 SAVE=1   ; and stage it
SAVE_CONFIG                                ; when you are happy with it

instead: it edits [ff_tool 2] z_adjust, re-applies immediately if that tool is mounted, is added on every later grab of that tool, and persists.

Design notes

• Per-tool X/Y offsets are differences vs a base tool (T0), applied on each grab the way CommMgr::setGrabGcodeOffsetMgr computes them. Z is absolute on every grab: nozzle_z − station_z + z_adjust, the bed-frame gap the app only sets once per print (BuildPage::startPrint). This departs from the app deliberately — with the app's scheme a tool picked up outside a print sits in the raw eddy frame and a manual G1 Z0.1 drives it 3 mm into the plate. TOOLCHANGE_SET_PRINT_OFFSET adds only the job terms (thermal, bed ≥ 100 °C, thin first layer) and those, plus mid-print babysteps, are carried across toolchanges as in the app. A print may start on any tool.
• Calibration is stored the way Klipper's own calibrators store theirs: absolute nozzle_x/y/z per [ff_tool n] section (modelled on [bed_mesh <profile>] / klipper-toolchanger's [tool Tn]) plus [ff_tool_offset] station_x/y/z, written with configfile.set() and persisted by SAVE_CONFIG; dock positions and the station start point are imported the same way. The offsets are derived at load. [save_variables] is deliberately not used. The stock touchscreen cannot see Klipper-side results — it keeps using its own JSON.
• Everything is a Python extra (not gcode_macro) because the grab sequence polls the grab sensor and retries up to 3 times, and the calibration drives the fork's e_stop probe objects directly — a macro renders its whole template before executing and cannot poll.

Input shaper

SHAPER_CALIBRATE, TEST_RESONANCES and MEASURE_AXES_NOISE are wrapped (ff-toolchange.cfg): they home if needed and grab a head first when the carriage is empty, so the measured moving mass is the real one (the app's grabVibration). Works the same from Mainsail, HelixScreen or the console; the original parameters pass through. Which head: variable_shaper_tool in [gcode_macro _FF_SHAPER_PREP] (default T0). The tool stays mounted afterwards; TOOLCHANGE_PARK docks it.

Roadmap

Fool-proofing, in rough priority order:

• Run this branch on hardware. Calibration sequence, import and the safety gates are mock-tested only.
• Z-height / clearance check after picking a tool, before leaving the dock area — catch a bad grab early instead of dragging or breaking the tool on the way out.
• Block the stock touchscreen UI during Mainsail prints. The app doesn't know a print is running (it only tracks jobs it started itself), so the screen stays fully live — a stray tap can home, move the carriage, start a filament load, or fire its own toolchange into the middle of a running job. The module should lock the UI out (or at least its motion commands) while a Mainsail-started print is active.

HelixScreen / tool-changer-aware UIs

ff_toolchange also registers the Klipper objects that UIs written for klipper-toolchanger look for — toolchanger (name, status, tool, tool_number, tool_numbers, tool_names, detected_tool, detected_tool_number, has_detection) and tool T0..T3 (active, mounted, detect_state = mounted|absent from the tool's grab sensor, extruder, heater, fan, gcode_x/y/z_offset) — and the commands they send: SELECT_TOOL T=<n> (= T<n>), UNSELECT_TOOL [T=<n>] (= TOOLCHANGE_PARK), INITIALIZE_TOOLCHANGER (state check, no motion), SET_TOOL_TEMPERATURE [T=<n>] TARGET=<t> [WAIT=1], VERIFY_TOOL_DETECTED [T=<n>] [ASYNC=…] and SELECT_TOOL_ERROR [MESSAGE=…]. status is changing from before the first move of a toolchange until the sensors confirm the swap, error when the dock sensors disagree, else ready. A bare park (TOOLCHANGE_PARK / UNSELECT_TOOL) never sets it, so it reports ready throughout one. We keep no commanded tool state, so detected_tool* always equals tool*: both are derived from the dock and grab sensors.

SELECT_TOOL, UNSELECT_TOOL and TOOLCHANGE_PARK accept upstream's RESTORE_AXIS=<xyz>: the G-code position is captured before the change and replayed after it, X/Y first and Z last so the nozzle is never dragged across the part. A G-code position is replayed, not a machine one, so it is read back through the offsets in force after the change — the new tool's nozzle lands where the old one was. The default is restore_axis in [ff_toolchange], itself empty: nothing is restored unless asked, which is how this machine has always behaved. Restoring Z after an UNSELECT_TOOL is the sharp edge, since parking zeroes the tool offsets and the same G-code Z becomes a different machine Z (~3.2 mm, this tool's nozzle-to-station-trigger gap -- the station, not the eddy coil; see the note under Calibration).

SET_TOOL_TEMPERATURE addresses the extruder behind the tool; WAIT=1 waits only for heat-up, as Klipper's own TEMPERATURE_WAIT MINIMUM does. VERIFY_TOOL_DETECTED accepts ASYNC and ignores it — we read switches after a wait_moves, which costs nothing to do inline. SELECT_TOOL_ERROR aborts the running script; we hold no error latch to set, because status is derived from the sensors every time it is asked for. Upstream's docking-mode and tool-parameter commands (TEST_TOOL_DOCKING, ENTER_DOCKING_MODE, SET_TOOL_PARAMETER and friends) are deliberately absent: calibration here is TOOL_CALIBRATE_TOOL_OFFSET / TOOL_LOCATE_SENSOR / TOOL_Z_ADJUST, already tied to the factory numbers. ASSIGN_TOOL is refused — remap tools in the slicer. Nothing to enable; it is always on. part_fan in [ff_toolchange] is what gets reported as each tool's fan (shared fan_generic fanM106 on this machine). ff_toolchange itself stays (the printer-database fingerprint keys on it); the new objects sit alongside.

Verify from any machine that can reach Moonraker (port 7125):

curl -s http://PRINTER:7125/printer/objects/list | grep -o '"toolchanger"\|"tool T[0-3]"'
# expect all five names
curl -s 'http://PRINTER:7125/printer/objects/query?toolchanger&tool%20T0'
# toolchanger.status "ready", tool_number -1 (parked) or 0..3;
# tool T0: mounted/active false, detect_state "absent" while docked

Then SELECT_TOOL T=0 from the console and poll the query again: status goes changing, then ready with tool_number: 0 and tool T0 detect_state: "mounted". HelixScreen's log on connect should read [Moonraker Client] Subscribing to toolchanger + 4 tool objects, and its tool panel shows the mounted head and Park/Select per tool. The resonance commands are wrapped so they grab a head first (see Input shaper).

HelixScreen then runs its Tool Changer backend: tool slots in the sidebar and print status, per-tool temperatures and offsets, Spoolman per tool, the plain single-extruder runout dialog. Drop pkgs/helixscreen/payload/helixscreen/config/printer_database.d/flashforge_creator5.json into HelixScreen's config/printer_database.d/ for auto-detection (ams_type: tool_changer, z_offset_calibration_strategy: firmware_managed). Its default Load/Unload buttons only mount/unmount the tool (SELECT_TOOL / UNSELECT_TOOL); to actually feed or pull filament assign LOAD_FILAMENT, UNLOAD_FILAMENT and PURGE from pkgs/klipper-config/payload/config/ff-filament.cfg in Settings → Macro Buttons — a user-assigned macro outranks the backend, and the parameter dialog picks up TOOL / TEMP / PURGE_TEMP from the macros.

Reverse-engineering notes

Condensed notes from the firmwareExe analysis — recovered sequences, binary addresses, JSON semantics — live in docs/notes/: architecture overview, the Klipper-fork delta (including the Tn interception), who decides what — app vs Klipper (heaters, runout, doors, calibration; which "features" are dead code), the verified grab/release sequences, the offset model, the recovered nozzle-offset calibration and its Klipper port, and the full print lifecycle with the deliberate divergences listed.

Support

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