# Releases

History of Klipper releases. Please see
[installation](Installation.md) for information on installing Klipper.

## 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: http://klipper3d.org/
  * 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
* Many additional commands added: RESTORE_GCODE_STATE,
  SAVE_GCODE_STATE, SET_GCODE_VARIABLE, SET_HEATER_TEMPERATURE,
  SET_IDLE_TIMEOUT, SET_TEMPERATURE_FAN_TARGET
* 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
* Several new commands added: SAVE_CONFIG, SET_PRESSURE_ADVANCE,
  SET_GCODE_OFFSET, SET_VELOCITY_LIMIT, STEPPER_BUZZ, TURN_OFF_HEATERS,
  M204, custom g-code macros
* 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
