# Klipper — High-Performance 3D Printer Firmware with Host Computing

> Offload motion planning to a Raspberry Pi for faster printing, input shaping, and pressure advance while using inexpensive MCU boards for stepper control.

## Install

Save in your project root:

# Klipper — High-Performance 3D Printer Firmware with Host Computing

## Quick Use
```bash
# Install on Raspberry Pi via KIAUH (Klipper Install And Update Helper)
git clone https://github.com/dw-0/kiauh.git
cd kiauh && ./kiauh.sh
# Select: 1) Install -> Klipper, Moonraker, Mainsail/Fluidd
# Flash MCU firmware:
cd ~/klipper
make menuconfig   # select your MCU type
make
make flash FLASH_DEVICE=/dev/ttyACM0
```

## Introduction
Klipper is a 3D printer firmware that splits processing between a host computer (typically a Raspberry Pi) and the printer MCU. The host runs the motion planner and kinematics in Python, while the MCU handles real-time step generation. This architecture enables higher step rates, advanced algorithms, and runtime configuration changes without reflashing.

## What Klipper Does
- Runs motion planning on a host computer for higher computational throughput
- Generates precise step timing on the MCU using pre-computed schedules
- Supports input shaping to eliminate ringing artifacts at high speeds
- Provides pressure advance for consistent extrusion during acceleration
- Allows runtime configuration changes via a plain-text printer.cfg file

## Architecture Overview
Klipper consists of a Python host process and a C microcontroller firmware. The host receives G-code, computes kinematic moves with look-ahead, and sends timed step commands to the MCU over serial or USB. The MCU executes step pulses at precise intervals using hardware timers. Moonraker provides an HTTP/WebSocket API that web interfaces (Mainsail, Fluidd) use to control the printer. Multi-MCU setups allow distributing stepper control across several boards.

## Self-Hosting & Configuration
- Install Klipper, Moonraker, and a web UI (Mainsail or Fluidd) on a Raspberry Pi or similar SBC
- Flash the Klipper MCU firmware to your printer board via USB, SD card, or DFU
- Configure printer.cfg with steppers, extruder, bed, probe, and kinematics settings
- Run input shaper calibration with an ADXL345 accelerometer for optimal print speed
- Use KIAUH or manual install scripts for initial setup and updates

## Key Features
- Input shaping with automatic resonance measurement via accelerometer
- Pressure advance for clean corners and consistent extrusion width
- Multi-MCU support to combine multiple boards in a single printer
- Exclude objects to skip failed parts mid-print without restarting
- CANBUS support for simplified wiring with toolhead boards

## Comparison with Similar Tools
- **Marlin** — Runs entirely on the MCU with no host dependency; Klipper offloads to a host for higher step rates and runtime config changes
- **RepRapFirmware** — Self-contained with built-in web interface; Klipper relies on external web UIs but offers superior input shaping implementation
- **Smoothieware** — 32-bit MCU firmware; Klipper achieves higher kinematic performance by using the host CPU
- **grbl** — Lightweight CNC controller; Klipper adds full 3D printing support and advanced motion algorithms

## FAQ
**Q: Do I need a Raspberry Pi for Klipper?**
A: A Raspberry Pi is most common, but any Linux SBC or even a laptop running Linux works. Some all-in-one boards (e.g., BTT CB1) include both the SBC and MCU.

**Q: Can I keep my existing printer board?**
A: Yes. Klipper supports most 8-bit and 32-bit printer boards. The MCU firmware is flashed onto the existing board while the host software runs on the Pi.

**Q: How does input shaping improve print quality?**
A: Input shaping applies a filter to the motion commands that cancels the mechanical resonance frequencies of the printer frame, eliminating ringing/ghosting artifacts visible on surfaces.

**Q: Is Klipper harder to set up than Marlin?**
A: Initial setup requires configuring printer.cfg and flashing both the host and MCU. KIAUH simplifies installation. Once configured, runtime changes are easier since no reflashing is needed.

## Sources
- https://github.com/Klipper3d/klipper
- https://www.klipper3d.org/Overview.html

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Author: AI Open Source