USB Bridge CAN Firmware Burning

Start Compilation

• A host machine with the installed klipper service is required Connect via SSH over the network
• Make sure the device is connected to the host machine
• Note: Please use a regular host machine, such as a Raspberry Pi FLY board, etc. If it's a modified host machine (e.g., WiFi stick, Redmi, etc.), due to too many issues, we cannot provide technical support for these machines

warning

• To switch from the ROOT user to a regular user, you can enter the command below
• Do not use the ROOT user
• For the fly user, you can directly enter: su fly. For non-fly users, please replace <your host machine username> with your host machine's username!

su <your host machine username>

::: tip

• Please ensure that the host machine can connect to the network normally.
• Before compiling the firmware, use SSH to log in to the host machine via the network.
• Do not use a serial port tool to log in to the host machine.

:::

Klipper Firmware Compilation and Configuration Page Operation Instructions

::: tip

Please make sure that the keyboard input method is in half-width mode, i.e., English mode.

:::

1. The key ↑ (up arrow) and ↓ (down arrow) on the keyboard are used to move the cursor up and down to select menu items.
2. The confirm key Enter or spacebar Space is used to check the menu or enter a sub-menu.
3. The exit key ESC is used to return to the previous menu.
4. The Q key is used to exit the Klipper firmware configuration page.
5. When exiting the Klipper firmware configuration page and there is a prompt, press the Y key to save the configuration file.

::: warning

If there are fewer options in the configuration page, please first check [ ] Enable extra low-level configuration options to display some hidden options.

:::

Below is the introduction on how to compile the firmware:

• After connecting to SSH, input the following command and press Enter:

  cd ~/klipper && rm -rf ~/klipper/.config && rm -rf ~/klipper/out && make menuconfig

• Among them, rm -rf ~/klipper/.config && rm -rf ~/klipper/out is to delete previous compilation data and firmware. make menuconfig is for compiling the firmware. After execution, the following interface should appear:

  

• Select Enable extra low-level configuration options and press Enter

  

• Enter the menu Micro-controller Architecture then select STMicroelectronics STM32 and press Enter

  

• Enter the menu Processor model, select STM32F072 and press Enter

  

• Select Bootloader offset, choose: 8KiB bootloader

  

• Select Communication interface, choose: USB to CAN bus bridge (USB on PA11/PA12) and press Enter

• After choosing USB to CAN bus bridge (USB on PA11/PA12), the default parameter does not need to be changed CAN bus interface （CAN bus (on PB8/PB9)）--->

  

• Please verify against the following image to ensure it matches before proceeding with the compilation

  

• Press the Q key, when Save configuration appears, press the Y key again.

  

• Now the configuration should be saved and you should have exited to the command line interface.

• Enter make -j4 to start compiling, it will take some time.

  

• If the following content is output at the end, compilation is successful.

  Linking out/klipper.elf
  Creating hex file out/klipper.bin

Enter Burning Mode

Tip

D7 models produced after September 1, 2024, already have Katapult firmware installed.

• Use a Type-C data cable to connect the main board to the host machine, then double-click the reset button, at this time there will be an LED light flashing on the main board.

Warning

• If there is no LED light flashing, please re-flash the Katapult firmware: Flash Katapult Firmware
• If there is no LED light flashing, please execute the next step after flashing the Katapult firmware.

Confirm Whether Burning Mode is Entered

• Please ensure that the host machine can connect to the network normally, and ensure that the data line connecting the lower-level device to the host machine has data transmission capability.
• After SSH connecting to the host machine, enter lsusb and press Enter. If the information circled in the image below appears, you can proceed to the next step.
  • If there is no feedback at all, this is a problem with the host system, and we are unable to help. You need to replace a confirmed normal system or change the host machine.
  • If the instruction lsusb is not found, you can execute this command to install it:

    sudo apt-get install usbutils

    
• The ID displayed in the red box can be used as a reference but is not fixed; the suffix stm32f072xx after OpenMoko, Inc. has a judgment basis where XX means variable.
  • Some host machines may display incomplete or no information due to system problems.

Burn Firmware

tip

• When installing the programming plugin, you need to be connected to the internet. Please ensure that your host computer is already properly connected to the Internet.
• If it has been installed, there is no need to install it again.

Start Programming

Warning

• For non-fly host computers, please make sure to execute the following code to install the dependency package for firmware programming! Otherwise, the firmware cannot be programmed!

    cd && git clone https://github.com/Arksine/katapult.git

• Use this command to install in China

  cd && git clone https://gitee.com/MrCakeFuck/katapult.git

• Use the following instruction to search for your device ID, and the ID shown in the figure below should appear (note: the ID shown in the figure is for reference only, and each motherboard has a different ID):

  ls /dev/serial/by-id/*

  

• To program the firmware, use the following code, and make sure the firmware has been compiled successfully. Please replace <your motherboard ID> with the ID queried in the previous step.

  ~/klippy-env/bin/python ~/katapult/scripts/flashtool.py -d /dev/serial/by-id/<your motherboard ID>

For the fast system, use this command to program, please replace <your motherboard ID> with the ID queried in the previous step.

python ~/katapult/scripts/flashtool.py -d /dev/serial/by-id/<your motherboard ID>

• Below is a reference:

  

• After programming is complete, refer to the following:

  

Firmware Update

USB Firmware Update

• Use the following instruction to search for your motherboard ID, and the ID shown in the figure below should appear (note: the ID shown in the figure is for reference only, and each motherboard has a different ID).

  ls /dev/serial/by-id/*

Note

In the figure below, /dev/serial/by-id/usb-katapult_rp2040_E662549553642032-if00 is the motherboard's ID.

• To update the USB firmware, after compiling the latest firmware, enter the following command to update, please replace <your motherboard ID> with the ID queried in the previous step.

  cd ~/klipper/ && make flash FLASH_DEVICE=<your motherboard ID>

  

Bridge CAN Firmware Update

• To update the USB bridge CAN firmware, you need to enter the Katapult after compiling the latest firmware. Enter the following command (the ID in the figure below is for reference only, please use the ID in your configuration file).

Note

• <your CANBUS UUID> is the CANBUS UUID of the motherboard in your printer.cfg configuration file.

~/klippy-env/bin/python3 ~/katapult/scripts/flashtool.py -i can0 -r -u <your CANBUS UUID>

For the fast system, use this command to burn, please replace <your motherboard ID> with the ID queried in the previous step.

python3 ~/katapult/scripts/flashtool.py -i can0 -r -u <your CANBUS UUID>

Note

• In the figure below, f95cee90e1f9 is the motherboard's CANBUS UUID.

• After resetting into Katapult, use the following command to search for your motherboard ID, and the ID shown in the figure below should appear (note: the ID shown in the figure is for reference only, and each motherboard has a different ID).

  ls /dev/serial/by-id/*

Note

In the figure below, /dev/serial/by-id/usb-Klipper_stm32f072xb_43002C000951324757373520-if00 is the motherboard's ID.

• Make sure to execute the programming after the new firmware is compiled successfully. Please replace <your motherboard ID> with the ID queried in the previous step.

  cd ~/klipper/ && make flash FLASH_DEVICE=<your motherboard ID>

  

Solution for Incorrect Firmware Burning

• Power off the motherboard, power on again, and quickly double-click the reset button to re-enter programming mode.
• Or use the window/host machine to re-burn the katapult firmware burn katapult firmware