USB to CAN Firmware Flashing
Start Compiling
- A host computer with the
klipper
service installed Connect via SSH over network - And the device should be properly connected to the host computer
- Note: Please use a standard host computer, such as Raspberry Pi, FLY board, etc. If it is a modified host computer (e.g., WiFi dongle, Redmi devices), we cannot provide technical support due to numerous issues with such hosts
- Firmware Compilation Guide for Standard Host
- FAST System Firmware Compilation Guide
- Applies to standard host computers running systems like Raspberry Pi, FLY board, etc.
- Do not use the
ROOT
user for any operations on such hosts - Please perform operations using a regular user account
- To switch users, for the
FlyOS-Armbian
system, please use the commandsu fly
to switch to the regular user - For other systems, use the command
su <your host username>
to switch to the regular user
su <your host username>
- Notes for the
FlyOS-FAST
system- The default username for the
FAST system
isroot
, and the password ismellow
- Firmware compilation must be performed using the
root
user - The
FAST system
only has theROOT
user—you do not need to switch users!!!
- The default username for the
::: 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.
:::
- The key
↑
(up arrow) and↓
(down arrow) on the keyboard are used to move the cursor up and down to select menu items. - The confirm key
Enter
or spacebarSpace
is used to check the menu or enter a sub-menu. - The exit key
ESC
is used to return to the previous menu. - The
Q
key is used to exit the Klipper firmware configuration page. - 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, enter the following command and press Enter:
cd ~/klipper && rm -rf ~/klipper/.config && rm -rf ~/klipper/out && make menuconfig
-
Where
rm -rf ~/klipper/.config && rm -rf ~/klipper/out
is to delete previous compilation data and firmware,make menuconfig
is to compile 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 STM32H723 and press Enter
-
Select Bootloader offset, select: 128KiB bootloader
-
Select Clock Reference (8 MHz crystal), select: 25 MHz crystal
-
Select Communication interface, select: USB to CAN bus bridge (USB on PA11/PA12)
- Press the
Q
key, and Save configuration appears, then pressY
key - Now the configuration should be saved and you should return to the command line interface
- Enter the following command to start compiling, it takes some time
make -j4

-
If the following output appears, the compilation is successful
Linking out/klipper.elf
Creating hex file out/klipper.bin
Confirm if Entering Flashing Mode
- After connecting the mainboard to the host computer with a TypeC data cable, press the reset button twice, and the LED on the mainboard will blink.
- If the LED does not blink, reflash the katapult firmware: Flash katapult firmware
- If the LED does not blink, perform the next step after reflashing the katapult firmware
Search for Devices
- Now that you have successfully logged into the host computer, you can enter
lsusb
to search for devices. You may encounter one of the following situations:- If entering
lsusb
prompts that thels
command is not found, you can install the required utility by entering the following command:sudo apt-get install usbutils
- If there is no response after entering
lsusb
, this is a system issue and cannot be resolved here. You will need to change the system or use a known working system. - If information like that shown in the image below appears, please note that this is only a reference. You only need to confirm that
1d50:606f
appears:
- If entering
1d50:606f
is the device you will use in this instance.- If multiple
1d50:606f
devices appear, one must be excluded, as multiple entries may affect subsequent flashing and firmware connection. For example, withFLY MINI PAD
, it is recommended to use the onboardUTOC
and avoid using other CAN bridges. - If the device does not appear, please check whether the data cable is properly connected and whether the correct firmware has been flashed.
You can proceed to search for the CAN ID only when 1d50:606f
appears.
Flash Firmware
- Internet connection is required when installing the flashing plugin. Please ensure your host machine is properly connected to the internet.
- If already installed, there is no need to install again.
Start Flashing
-
For non-fly host machines, please execute the code below to install the required dependency packages for firmware flashing! Otherwise, the firmware cannot be flashed!
- Default Repository
- Domestic Repository
cd && git clone https://github.com/Arksine/katapult.git
cd && git clone https://gitee.com/MrCakeFuck/katapult.git
-
Use the command below to search for your device ID. The ID shown in the figure below should appear (Note: The ID shown in the figure is for reference only; each motherboard has a unique ID).
ls /dev/serial/by-id/*
-
Use the code below to flash the firmware. Please ensure the firmware has already been compiled, and replace
<你的主板ID>
with the ID obtained in the previous step.
- Fly-Armbian and Standard Host Flashing Method
- Fly-FAST Flashing Method
~/klippy-env/bin/python ~/katapult/scripts/flashtool.py -d /dev/serial/by-id/<你的主板ID>
python ~/katapult/scripts/flashtool.py -d /dev/serial/by-id/<你的主板ID>
-
Reference image is shown below:
-
Reference after flashing is completed:
Firmware Update
- USB Firmware Update
- Bridged CAN Firmware Update
-
Use the following command to search for your motherboard ID. The ID shown in the figure below should appear (Note: The ID shown in the figure is for reference only; each motherboard has a unique ID).
ls /dev/serial/by-id/*
The ID /dev/serial/by-id/usb-katapult_rp2040_E662549553642032-if00
in the figure below is the motherboard ID.

-
After compiling the latest firmware, use the command below to update the USB firmware. Please replace
<你的主板ID>
with the ID obtained in the previous step.cd ~/klipper/ && make flash FLASH_DEVICE=<你的主板ID>
- To update the bridged CAN firmware over USB, after compiling the latest firmware, run the command below to reset into Katapult. (As shown in the figure below, the ID is for reference only; please use the ID from your configuration file.)
<CANBUS UUID>
is the CANBUS UUID of the motherboard specified in your printer.cfg configuration file.
- Fly-Armbian and Standard Host Reset to Flash Method
- Fly-FAST Reset to Flash Method
- Replace
<你的主板ID>
with the ID obtained in the previous step.~/klippy-env/bin/python3 ~/katapult/scripts/flashtool.py -i can0 -r -u <CANBUS UUID>
- Replace
<你的主板ID>
with the ID obtained in the previous step.python3 ~/katapult/scripts/flashtool.py -i can0 -r -u <CANBUS UUID>
- The
f95cee90e1f9
in the figure below is the CANBUS UUID of the motherboard.

-
After resetting into Katapult, use the command below to search for your motherboard ID. The ID shown in the figure below should appear (Note: The ID shown in the figure is for reference only; each motherboard has a unique ID).
ls /dev/serial/by-id/*
The ID /dev/serial/by-id/usb-Klipper_stm32f072xb_43002C000951324757373520-if00
in the figure below is the motherboard ID.

-
Ensure the new firmware has been compiled before executing the flashing. Replace
<你的主板ID>
with the ID obtained in the previous step.cd ~/klipper/ && make flash FLASH_DEVICE=<你的主板ID>
Recovery Method for Incorrect Firmware
- Power off the motherboard, then power it on again and double-press the reset button quickly to re-enter flashing mode.
- Alternatively, use Windows/host machine to re-flash the Katapult firmware Flash Katapult Firmware