USB桥接CAN固件烧录

SSH连接到上位机

警告

固件编译前需要使用wifi连接到上位机SSH

首先请：使用wifi连接到上位机ssh

USB桥接CAN固件烧录
手动编译USB桥接CAN固件

USB桥接CAN固件烧录

提示

FLYOS-FAST系统中已提前编译好一份USB桥接CAN固件,无需再手动编译固件,执行下方命令即可烧录
也可选择手动编译USB桥接CAN固件,自行编译固件

FAST 系统默认是1M速率,如需500K，需要到系统配置中修改canbus_bitrate的速率
此命令是烧录1M的USB桥接CAN固件

fly-flash -d auto -h -f /usr/lib/firmware/klipper/stm32h723-128k-usbcan-1m.bin

此命令是烧录500k的USB桥接CAN固件

fly-flash -d auto -h -f /usr/lib/firmware/klipper/stm32h723-128k-usbcan-500k.bin

固件编译简明指南

注意事项

网络: 确保上位机(树莓派等)已联网
登录方式: 必须使用 SSH 通过网络登录，禁用串口
输入法: 保持键盘为英文半角模式

SSH登录与用户切换

使用 MobaXterm、PuTTY 等工具 SSH 登录上位机。

切换用户：

普通系统(树莓派官方系统等)
禁止使用 root,需切换到普通用户：
```
su <用户名>
```
FLY上位机(FlyOS-FAST系统)
仅支持 root 用户登录(密码： mellow)

固件编译操作指南

在 Klipper 固件配置界面中仅支持键盘操作,无法使用鼠标。

按键	功能
↑ / ↓	上下移动光标，选择菜单项
Enter / 空格	确认选择、勾选选项或进入子菜单
ESC	返回上一级菜单
Q	退出配置界面
Y	退出时，如有提示则按 Y 保存配置

开始固件编译

下面介绍如何编译固件：

连接到 SSH，输入下面的命令并按 Enter：
```
cd ~/klipper && rm -rf ~/klipper/.config && rm -rf ~/klipper/out && make menuconfig
```
其中，rm -rf ~/klipper/.config && rm -rf ~/klipper/out 用于清除之前的编译配置与固件； make menuconfig 用于打开 Klipper 固件配置界面。
按照下方顺序逐项设置，每完成一项再继续下一项。

1启用 Enable extra low-level configuration options
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (STMicroelectronics STM32) --->
Processor model (STM32H723) --->
Bootloader offset (128KiB bootloader) --->
Clock Reference (25 MHz crystal) --->
Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
CAN bus interface (CAN bus (on PB8/PB9)) --->
USB ids --->
(1000000) CAN bus speed
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
2Micro-controller Architecture 选择 STMicroelectronics STM32
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (STMicroelectronics STM32) --->
Processor model (STM32H723) --->
Bootloader offset (128KiB bootloader) --->
Clock Reference (25 MHz crystal) --->
Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
CAN bus interface (CAN bus (on PB8/PB9)) --->
USB ids --->
(1000000) CAN bus speed
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
3Processor model 选择 STM32H723
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (STMicroelectronics STM32) --->
Processor model (STM32H723) --->
Bootloader offset (128KiB bootloader) --->
Clock Reference (25 MHz crystal) --->
Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
CAN bus interface (CAN bus (on PB8/PB9)) --->
USB ids --->
(1000000) CAN bus speed
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
4Bootloader offset 选择 128KiB bootloader
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (STMicroelectronics STM32) --->
Processor model (STM32H723) --->
Bootloader offset (128KiB bootloader) --->
Clock Reference (25 MHz crystal) --->
Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
CAN bus interface (CAN bus (on PB8/PB9)) --->
USB ids --->
(1000000) CAN bus speed
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
5Clock Reference 选择 25 MHz crystal
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (STMicroelectronics STM32) --->
Processor model (STM32H723) --->
Bootloader offset (128KiB bootloader) --->
Clock Reference (25 MHz crystal) --->
Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
CAN bus interface (CAN bus (on PB8/PB9)) --->
USB ids --->
(1000000) CAN bus speed
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
6Communication interface 选择 USB to CAN bus bridge (USB on PA11/PA12)
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (STMicroelectronics STM32) --->
Processor model (STM32H723) --->
Bootloader offset (128KiB bootloader) --->
Clock Reference (25 MHz crystal) --->
Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
CAN bus interface (CAN bus (on PB8/PB9)) --->
USB ids --->
(1000000) CAN bus speed
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
7CAN bus interface 选择 CAN bus (on PB8/PB9)
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (STMicroelectronics STM32) --->
Processor model (STM32H723) --->
Bootloader offset (128KiB bootloader) --->
Clock Reference (25 MHz crystal) --->
Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
CAN bus interface (CAN bus (on PB8/PB9)) --->
USB ids --->
(1000000) CAN bus speed
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
8USB ids 保持默认，无需进入
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (STMicroelectronics STM32) --->
Processor model (STM32H723) --->
Bootloader offset (128KiB bootloader) --->
Clock Reference (25 MHz crystal) --->
Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
CAN bus interface (CAN bus (on PB8/PB9)) --->
USB ids --->
(1000000) CAN bus speed
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
9CAN bus speed 设置为 1000000
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (STMicroelectronics STM32) --->
Processor model (STM32H723) --->
Bootloader offset (128KiB bootloader) --->
Clock Reference (25 MHz crystal) --->
Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
CAN bus interface (CAN bus (on PB8/PB9)) --->
USB ids --->
(1000000) CAN bus speed
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
10GPIO pins to set at micro-controller startup 保持为空
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (STMicroelectronics STM32) --->
Processor model (STM32H723) --->
Bootloader offset (128KiB bootloader) --->
Clock Reference (25 MHz crystal) --->
Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
CAN bus interface (CAN bus (on PB8/PB9)) --->
USB ids --->
(1000000) CAN bus speed
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
11GPIO state at micro-controller startup 选择 Not set
此项是 FLYOS-Klipper 功能。通常保持 Not set；如需设置全部 GPIO 的启动状态，请先阅读 GPIO 启动状态使用说明。
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (STMicroelectronics STM32) --->
Processor model (STM32H723) --->
Bootloader offset (128KiB bootloader) --->
Clock Reference (25 MHz crystal) --->
Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
CAN bus interface (CAN bus (on PB8/PB9)) --->
USB ids --->
(1000000) CAN bus speed
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
12按 Q 键退出配置界面
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (STMicroelectronics STM32) --->
Processor model (STM32H723) --->
Bootloader offset (128KiB bootloader) --->
Clock Reference (25 MHz crystal) --->
Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
CAN bus interface (CAN bus (on PB8/PB9)) --->
USB ids --->
(1000000) CAN bus speed
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
13出现 Save configuration 时按 Y 保存配置
Quit
Save configuration?
(Y)es(N)o(C)ancel
完成上方最后两个步骤，按 Q 退出配置界面，再按 Y 保存配置。
返回命令行后输入下面的命令并按 Enter 开始编译：
```
make -j4
```
root@flyos-11e5f8 ~/klipper # make -j4
Compiling out/src/stm32/usbotg.o
Compiling out/src/generic/canserial.o
Compiling out/src/../lib/fast-hash/fasthash.o
Compiling out/src/stm32/fdcan.o
Compiling out/src/stm32/chipid.o
Compiling out/src/generic/usb_canbus.o
Compiling out/src/stm32/hard_pwm.o
Preprocessing out/src/generic/armcm_link.ld
Building out/compile_time_request.o
Version: XXXX
Linking out/klipper.elf
Creating bin file out/klipper.bin
终端末尾出现 Linking out/klipper.elf 和 Creating bin file out/klipper.bin，即表示编译成功。实际编译时，部分 Compiling 行和 Version 会随 Klipper 与系统版本变化。

固件烧录

提示

执行下面的命令来烧录固件

fly-flash -d auto -h -f /data/klipper/out/klipper.bin

HID 烧录失败提示

若出现下图所示的提示，请按以下步骤排查：

确认拨码开关位置是否正确
若拨码正确仍烧录失败，请参考 BL 固件烧录

搜索CAN ID

打开浏览器，在网址栏中输入上位机的IP地址，比如我上位机IP是192.168.101.179直接输入然后回车即可

打开上位机的WEB界面，在左侧边栏的配置选项里找到：

fluidd为： {…} ,点击进去，即可找到 printer.cfg

mainsail为:机器,点击进去，即可找到 printer.cfg

3.点击printer.cfg 进去后，再点击右上方的DEVICES

4.点击CAN ,然后刷新

fluidd的刷新

mainsail的刷新

5.复制ID,点击箭头所指即可复制

fluidd需要确定第一个箭头所指的是否是Klipper,如果是即可点击右边箭头所指的复制

mainsail需要确定第一个箭头所指的是否是Klipper,如果是即可点击右边箭头所指的复制

填写CAN ID

关闭DEVICES填写ID

须知

请将配置文件中的：

[mcu] 
serial: /tmp/klipper_host_mcu

修改为

[mcu host] 
serial: /tmp/klipper_host_mcu

添加：

[mcu]
canbus_uuid: <这里替换为你刚刚查询到的ID>

fluidd中找到[MCU]

mainsail中找到[MCU]

将ID填写到配置中

提示

填写好ID后点击右上方的SAVE & RESTART

若Klipper提示 ADC out of range 此为正常现象，将热床和热敏连接到主板，并配置好喷头、热床的热敏引脚，再保存重启即可。

危险

注意：文档中所出现的所有ID均为示例，实际每个主板的ID均不相同，请填写实际获取到的ID.

SSH连接到上位机​

USB桥接CAN固件烧录​

固件编译简明指南​

注意事项​

SSH登录与用户切换​

切换用户：​

固件编译操作指南​

开始固件编译​

固件烧录​

HID 烧录失败提示​

搜索CAN ID​

填写CAN ID​

SSH连接到上位机

USB桥接CAN固件烧录

固件编译简明指南

注意事项

SSH登录与用户切换

切换用户：

固件编译操作指南

开始固件编译

固件烧录

HID 烧录失败提示

搜索CAN ID

填写CAN ID