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CAN Firmware Compilation

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
  • 请确保上位机可以正常联网
  • 固件编译前需要使用SSH通过网络登录上位机
  • 请不要使用串口工具登录上位机

Klipper固件编译和配置页面操作说明​

tip

请确保键盘输入法为半角模式，即英文模式

  1. 键盘上键↑，下键↓，用于上下移动光标来选中菜单项
  2. 确认键Enter 或 空格键Space，用于勾选菜单或进入子菜单
  3. 退出键ESC，用于返回上一级菜单
  4. Q键，用于退出Klipper固件配置页面
  5. Y键，在退出Klipper固件配置页面时，如果有提示，则点击Y键保存配置文件
warning

如果配置页面选项比较少，请先勾选[ ] Enable extra low-level configuration options，用于显示部分隐藏选项

Below is an 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 Raspberry Pi RP2040 and press Enter

  • Select Bootloader offset, select: 16KiB bootloader

  • Select Communication interface, select: CAN bus

  • Select (4) CAN RX gpio number, delete 4 and input 1

  • Select (5) CAN TX gpio number, delete 5 and input 0

  • Select GPIO pins to set at micro-controller startup, enter: !gpio18
warning

Please enter !gpio18 in English input mode

  • Please check against the above image to ensure consistency before proceeding to the next step

  • Press Q key, and when Save configuration appears, press Y key

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

  • Input make -j4 to start compilation, it takes some time

  • If the following content is output, the compilation is successful

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

Host Computer Configuration​

warning

If your host computer is a FLY host, you do not need to perform the Host Computer Configuration step

warning

If your host computer is a non-FLY host, please follow the steps below

Check if the Host Computer Supports CAN​

  • If it is a FLY host computer, you do not need to perform this operation
  • If your system is Ubuntu and needs Ubuntu Configuration CAN0, this document has not been updated
  • Enter the following command to check if the system supports CAN
sudo modprobe can && echo "Your kernel supports CAN" || echo "Your kernel does not support CAN"
  • After entering the above command, if your kernel supports CAN, it will return: Your kernel supports CAN; if not, it will return: Your kernel does not support CAN.
tip

If it returns Your kernel supports CAN, you can proceed to configure CAN0, if it returns Your kernel does not support CAN, please change the host computer system or change the host computer!

Configure CAN0​

  • This command overrides the original system CAN0 configuration and needs to restart the system after completion
  • Please choose one according to your actual situation (Klipper defaults CAN rate to 1M, it is recommended to use 1M rate)
warning

For 1M rate, enter the following command

sudo /bin/sh -c "cat > /etc/network/interfaces.d/can0" << EOF
    allow-hotplug can0
    iface can0 can static
        bitrate 1000000
        up ifconfig $IFACE txqueuelen 1024
        pre-up ip link set can0 type can bitrate 1000000
        pre-up ip link set can0 txqueuelen 1024
EOF
warning

For 500K rate, enter the following command

sudo /bin/sh -c "cat > /etc/network/interfaces.d/can0" << EOF
allow-hotplug can0
iface can0 can static
    bitrate 500000
    up ifconfig $IFACE txqueuelen 1024
    pre-up ip link set can0 type can bitrate 500000
    pre-up ip link set can0 txqueuelen 1024
EOF
  • Restart the device
sudo reboot

Search for Devices​

  • Please ensure that the host machine can connect to the internet normally, and ensure that the data cable connecting the sub-machine to the host machine has data transmission capabilities.
  • After SSH connecting to the host machine, enter lsusb and press Enter. If the information circled in the following image appears, you can proceed to the next step.
    • If there is no feedback information, this is a system issue with the host machine, and we are unable to help. You need to replace it with a normal system or replace the host machine.
    • If there is a提示 of no lsusb command, you can execute the following command to install it: 
      sudo apt-get install usbutils
  • 1d50:606f belongs to the device you will be using this time. The suffix OpenMoko, Inc. Geschwister Schneider CAN adapter has some reference value but is not used as a basis for judgment.
    • Some host machines may display incompletely or not at all due to system issues.
    • If entering the lsusb command displays the device, but does not show 1d50:606f, please try replacing the data cable and attempt to connect the motherboard to another USB port on the host machine.
  • If you have executed the above steps previously and successfully burned the Klipper firmware, and the motherboard is operating normally, but you only need to update the Klipper firmware, please directly refer to the Firmware Update section in the right-hand menu bar of this page.
Note

You can only proceed to the next step when there is 1d50:606f.

Burn Firmware​

  • Before burning the firmware, use an XT30 data cable to connect the tool board to the UTOC or the motherboard with the bridge firmware flashed, the following is a reference wiring diagram
  • Please note whether the dip switch is set to the corresponding position

Schematic diagram of KF interface​

Schematic diagram of XT30 interface​

  • Please ensure that the resistance measured with a multimeter under power-off conditions for CAN H and CAN L is about 60Ω, if it is 120Ω, you need to connect a 120Ω jumper, if it is about 40Ω, you need to remove the jumper
tip
  • It is recommended not to perform ID search and firmware flashing during the printing process.
  • The CAN firmware IDs of the same motherboard or Katapult tool board are completely consistent with Klipper's CAN firmware IDs.
warning
  • Please ensure that the can network on the host machine has been configured.
  • You can only use the following command to search for the CAN ID when lsusb shows 1d50:606f.
  • The CAN baud rate of the tool board must be consistent with the host machine, otherwise, you will not be able to find the ID and burn it.

  • Execute the following command to query the CANBus UUID:

    ~/klippy-env/bin/python ~/klipper/scripts/canbus_query.py can0

  • After entering, you will encounter one of the following scenarios based on your machine. Below are references:

    • First scenario: If the mainboard has been flashed with bridge firmware, a single ID will appear along with the prompt Application: Klipper.
    • Second scenario: If the mainboard has been flashed with bridge firmware and is paired with a tool board that needs to be burned, two IDs will appear.
    • Third scenario: When using UTOC paired with a tool board that needs to be burned.
    • Note: UTOC does not display an ID.
    • Fourth scenario: No ID prompt appears. Generally, this indicates that the klipper is occupied, the host machine's CAN0 baud rate is incorrect, or there is a wiring issue.

  • Normally, if the tool board that needs to be burned is in CANBOOT mode, it will prompt Application: CanBoot, and the corresponding firmware light will flash. At this point, you need to burn the Klipper firmware; otherwise, you will not be able to connect!!!

  • Note: If it is Klipper firmware and the ID has already been entered into the configuration, the ID will not be displayed and will be occupied by Klipper. You need to shield the corresponding ID and fully power off and restart the mainboard.

warning
  • If the UUID is not queried, please refer to the documentation below.
  • CAN Problem Collection

  • Firmware Flashing

  • Replace 241696050c56 in the following command with the UUID found from querying the UUID. Please note that there should be a space after -u.

    python3 ~/klipper/lib/canboot/flash_can.py -u 241696050c56

  • As shown in the image below, if CAN Flash Success appears, the burning was successful.

  • If you need to update the firmware, simply re-execute the burning command after compiling the firmware. However, make sure you can find the ID or Klipper is already connected.

    python3 ~/klipper/lib/canboot/flash_can.py -u <MCU ID>

Confirm if the Firmware Starts​

  • If the firmware starts normally, the LED will light up