Add KUSBA support for klipper.

hosts/briah/klipper.cfg

@@ -143,7 +143,6 @@ 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
@@ -208,13 +207,6 @@ 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 = 69.9300699
-#shaper_type_x = ei
-#shaper_freq_x = 74.4878957
-
 [temperature_sensor raspberry_pi]
 sensor_type: temperature_host
 #min_temp: 10
@@ -239,6 +231,39 @@ gcode:
   BED_MESH_CALIBRATE
   SAVE_CONFIG
 
+# -- #
+# Uncomment lines below for KUSBA support.
+# -- #
+# 
+# [mcu adxl]
+# serial: /dev/serial/by-id/usb-Klipper_rp2040_E6624C902762BE38-if00
+# Edit the above line with the correct serial address. Use "ls /dev/serial/by-id/*" to find the MCU serial address.
+# 
+# [adxl345]
+# cs_pin: adxl:gpio1
+#
+# # Hardware SPI Option (Better results, "Invalid ID" Klipper bug with first query)
+# spi_bus: spi0a
+#
+# # Software SPI Option (No "Invalid ID" Klipper bug with first query)
+# # spi_software_sclk_pin: adxl:gpio2
+# # spi_software_mosi_pin: adxl:gpio3
+# # spi_software_miso_pin: adxl:gpio0
+#
+# [resonance_tester]
+# accel_chip: adxl345
+# probe_points:
+#   112,112,20
+# # Edit the above line with the correct probe points location. I recommend the center of your bed for X & Y, 20 for Z.
+# # For 350 mm printers: 175,175,20
+# # For 300 mm printers: 150,150,20
+# # For 250 mm printers: 125,125,20
+# # For 120 mm printers: 60,60,20
+#
+# -- #
+# More info: https://www.klipper3d.org/Config_Reference.html#adxl345
+# -- #
+
 #*# <---------------------- SAVE_CONFIG ---------------------->
 #*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
 #*#
@@ -248,12 +273,12 @@ gcode:
 #*# [bed_mesh default]
 #*# version = 1
 #*# points =
-#*# 	  0.075000, 0.037500, -0.077500, -0.145000, -0.305000, -0.202500
-#*# 	  0.137500, 0.137500, 0.117500, 0.095000, 0.062500, -0.070000
-#*# 	  0.127500, 0.110000, 0.080000, 0.060000, 0.022500, -0.145000
-#*# 	  0.127500, 0.120000, 0.092500, 0.072500, 0.042500, -0.087500
-#*# 	  0.112500, 0.087500, 0.057500, 0.040000, 0.010000, -0.130000
-#*# 	  -0.020000, -0.032500, -0.050000, -0.052500, -0.065000, -0.165000
+#*# 	  0.022500, -0.010000, -0.052500, -0.080000, -0.117500, -0.117500
+#*# 	  0.015000, 0.032500, 0.007500, -0.005000, -0.040000, -0.055000
+#*# 	  0.010000, 0.017500, -0.015000, -0.030000, -0.075000, -0.107500
+#*# 	  0.017500, 0.025000, -0.002500, -0.020000, -0.060000, -0.082500
+#*# 	  -0.020000, -0.015000, -0.047500, -0.055000, -0.092500, -0.115000
+#*# 	  -0.135000, -0.132500, -0.152500, -0.157500, -0.180000, -0.180000
 #*# tension = 0.2
 #*# min_x = 30.0
 #*# algo = bicubic
@@ -276,3 +301,9 @@ gcode:
 #*# pid_kp = 64.075
 #*# pid_ki = 0.844
 #*# pid_kd = 1215.827
+#*#
+#*# [input_shaper]
+#*# shaper_type_y = 2hump_ei
+#*# shaper_freq_y = 57.2
+#*# shaper_type_x = ei
+#*# shaper_freq_x = 62.4

overlays/gradientpkgs.nix

@@ -13,9 +13,27 @@ final: prev:
 
   xwaylandvideobridge = prev.libsForQt5.callPackage ../pkgs/xwaylandvideobridge.nix { };
 
+  # Klipper with accelerometer support. See: https://www.klipper3d.org/Measuring_Resonances.html#software-installation
+  klipper = prev.klipper.overrideAttrs (finalAttrs: prevAttrs: {
+    buildInputs = [
+      prev.openblasCompat
+      (prev.python3.withPackages (p: with p; [can cffi pyserial greenlet jinja2 markupsafe numpy matplotlib ]))
+      ];
+  });
+
   klipper-np3pro-firmware = prev.klipper-firmware.override {
     mcu = prev.lib.strings.sanitizeDerivationName "np3pro";
     firmwareConfig = ../pkgs/klipper-np3pro-firmware/config;
   };
 
-}
+  klipper-kusba-firmware = (prev.klipper-firmware.override {
+    mcu = prev.lib.strings.sanitizeDerivationName "kusba";
+    firmwareConfig = ../pkgs/klipper-kusba-firmware/config;
+  }).overrideAttrs (finalAttrs: prevAttrs: {
+    # Regular firmware derivation does not copy uf2 file.
+    installPhase = prevAttrs.installPhase + ''
+      cp out/klipper.uf2 $out/ || true
+    '';
+  });
+
+}

pkgs/klipper-kusba-firmware/config

@@ -0,0 +1,56 @@
+# CONFIG_LOW_LEVEL_OPTIONS is not set
+# CONFIG_MACH_AVR is not set
+# CONFIG_MACH_ATSAM is not set
+# CONFIG_MACH_ATSAMD is not set
+# CONFIG_MACH_LPC176X is not set
+# CONFIG_MACH_STM32 is not set
+# CONFIG_MACH_HC32F460 is not set
+CONFIG_MACH_RP2040=y
+# CONFIG_MACH_PRU is not set
+# CONFIG_MACH_AR100 is not set
+# CONFIG_MACH_LINUX is not set
+# CONFIG_MACH_SIMU is not set
+CONFIG_BOARD_DIRECTORY="rp2040"
+CONFIG_MCU="rp2040"
+CONFIG_CLOCK_FREQ=12000000
+CONFIG_USBSERIAL=y
+CONFIG_FLASH_SIZE=0x200000
+CONFIG_FLASH_BOOT_ADDRESS=0x10000100
+CONFIG_RAM_START=0x20000000
+CONFIG_RAM_SIZE=0x42000
+CONFIG_STACK_SIZE=512
+CONFIG_FLASH_APPLICATION_ADDRESS=0x10000100
+CONFIG_RP2040_SELECT=y
+CONFIG_RP2040_HAVE_STAGE2=y
+CONFIG_RP2040_FLASH_START_0100=y
+# CONFIG_RP2040_FLASH_START_4000 is not set
+CONFIG_RP2040_STAGE2_FILE="boot2_w25q080.S"
+CONFIG_RP2040_STAGE2_CLKDIV=2
+CONFIG_RP2040_USB=y
+# CONFIG_RP2040_SERIAL_UART0 is not set
+# CONFIG_RP2040_CANBUS is not set
+# CONFIG_RP2040_USBCANBUS is not set
+CONFIG_RP2040_CANBUS_GPIO_RX=4
+CONFIG_RP2040_CANBUS_GPIO_TX=5
+CONFIG_USB=y
+CONFIG_USB_VENDOR_ID=0x1d50
+CONFIG_USB_DEVICE_ID=0x614e
+CONFIG_USB_SERIAL_NUMBER_CHIPID=y
+CONFIG_USB_SERIAL_NUMBER="12345"
+CONFIG_WANT_GPIO_BITBANGING=y
+CONFIG_WANT_DISPLAYS=y
+CONFIG_WANT_SENSORS=y
+CONFIG_WANT_LIS2DW=y
+CONFIG_WANT_SOFTWARE_I2C=y
+CONFIG_WANT_SOFTWARE_SPI=y
+CONFIG_CANBUS_FREQUENCY=1000000
+CONFIG_HAVE_GPIO=y
+CONFIG_HAVE_GPIO_ADC=y
+CONFIG_HAVE_GPIO_SPI=y
+CONFIG_HAVE_GPIO_I2C=y
+CONFIG_HAVE_GPIO_HARD_PWM=y
+CONFIG_HAVE_STRICT_TIMING=y
+CONFIG_HAVE_CHIPID=y
+CONFIG_HAVE_STEPPER_BOTH_EDGE=y
+CONFIG_HAVE_BOOTLOADER_REQUEST=y
+CONFIG_INLINE_STEPPER_HACK=y