CAN Firmware Compilation

Start Compilation

Firmware Compilation Quick Guide

Notes

Network: Ensure the host machine (Raspberry Pi, etc.) is connected to the network.
Login Method: Must use SSH to log in via the network; disable serial port.
Input Method: Keep the keyboard in English half-width mode.

Use tools like MobaXterm, PuTTY, etc., to SSH into the host machine.

Switching Users:

Standard Systems (Raspberry Pi official system, etc.)
Do not use root. Switch to a regular user:
```
su <username>
```
FLY Host Machine (FlyOS-FAST system)
Only supports logging in as the root user (password: mellow).

Firmware Compilation Operation Guide

In the Klipper firmware configuration interface, only keyboard operations are supported; mouse usage is not possible.

Key	Function
↑ / ↓	Move the cursor up/down to select menu items
Enter / Space	Confirm selection, toggle options, or enter submenus
ESC	Return to the previous menu
Q	Exit the configuration interface
Y	When exiting, press Y if prompted to save the configuration

Start Firmware Compilation

The following describes how to compile the firmware:

After connecting via SSH, enter the command below and press Enter:

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

The rm -rf ~/klipper/.config && rm -rf ~/klipper/out part deletes previous compilation data and firmware.
make menuconfig is for firmware compilation. After execution, the following interface should appear:

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

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Navigate to the Micro-controller Architecture menu, then select Raspberry Pi RP2040/RP235x and press Enter.

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Select Bootloader offset, and choose: 16KiB bootloader.

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Select Communication interface, and choose: CAN bus.

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Select (4) CAN RX gpio number, delete 4, and enter 1.
Select (5) CAN TX gpio number, delete 5, and enter 0.

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Select GPIO pins to set at micro-controller startup, input: !gpio5,!gpio19,!gpio24
Caution
Please enter !gpio5,!gpio19,!gpio24 in English input mode.

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Press the Q key. When Save configuration appears, press the Y key.

The configuration should now be saved, and you will exit to the command line interface.
Enter the command below to start compilation. This process may take some time.

make -j4

The compilation is successful if the following output appears at the end.
Due to Klipper version differences, the appearance of out/klipper.bin alone indicates success.
```
Linking out/klipper.elf
Creating bin file out/klipper.bin
```

Wiring

Before flashing the firmware, connect the tool board to the UTOC or a motherboard with bridge firmware using an XT30 data cable. Refer to the wiring diagram below.
Ensure the DIP switch is set to the correct position.

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Use a multimeter to measure the resistance between CAN H and CAN L while powered off. It should be around 60Ω. If it reads 120Ω, enable the 120Ω DIP switch. If it reads around 40Ω, disable the DIP switch.

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After connecting the tool board to the UTOC or a motherboard with bridge firmware using an XT30 data cable, the motherboard's LED should blink.

Warning

If the LED does not blink, reflash the katapult firmware: Flash Katapult Firmware
If the LED does not blink, proceed to the next step only after successfully flashing the katapult firmware.

Search ID and Flash

Query CANBus UUID

Before Operation

It is recommended to perform ID query and firmware flashing operations in a non-printing state to avoid interfering with the printing process.
The Katapult (CANBoot) firmware and the Klipper firmware on the same mainboard/tool board use the same CAN ID.

Prerequisites

Please ensure the following conditions are met; otherwise, the CAN ID may not be found normally:

The host's CAN network is correctly configured.
The CAN baud rate of the tool board is exactly the same as the host's. (Communication will fail if rates differ.)
The 1d50:606f device (USB-CAN adapter) is visible after executing the lsusb command.

Search Commands (Choose based on system)

Search command for a standard host

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

Search command for a FLY host

python3 ~/klipper/scripts/canbus_query.py can0

Search Result Explanation

Scenario 1: Mainboard/Tool board already flashed with Klipper firmware

Display: Shows one CAN ID and prompts Application: Klipper.
Explanation: The device is running Klipper firmware and can be used directly. This ID could belong to either the mainboard or a tool board.
How to distinguish: Disconnect the CAN cable from the tool board and search again. If the ID disappears, it belongs to the tool board; if it remains, it belongs to the mainboard.

Scenario 2: Mainboard + Tool board awaiting flashing

Display: Shows two CAN IDs.
Explanation: The mainboard is running Klipper firmware, and the tool board is running CanBoot firmware, waiting to be flashed.

Scenario 3: UTOC + Tool board awaiting flashing

Display: The UTOC itself does not show an ID, only the tool board's ID is displayed.
Explanation: The UTOC acts only as a bridge. Ensure the tool board is in CanBoot mode.

Scenario 4: No ID displayed

Display: No ID is displayed.
Possible causes:
1. CAN bus is occupied by Klipper.
2. Incorrect CAN0 baud rate configuration on the host.
3. Physical connection issue.
4. Device is not in CanBoot mode.

Important Notes

Awaiting Flashing State: When a tool board is in CanBoot mode, it will display Application: CanBoot and the firmware LED will blink, indicating it is ready for firmware flashing.
ID Occupancy Handling: If a device is already running Klipper firmware and its ID is entered in the configuration file, the ID will not be displayed (occupied by Klipper). To make it reappear, you need to comment out that ID in the configuration and perform a complete power cycle.

Troubleshooting

If you cannot query the UUID, please refer to: CAN Troubleshooting Guide

Firmware Flashing

Flashing Command

Replace 241696050c56 in the command below with the UUID you actually queried.
Note: There must be a space after the -u parameter.

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

Confirmation of Successful Flashing

The appearance of the CAN Flash Success prompt indicates successful flashing:

Firmware Update

Update Method

When a firmware update is needed, simply:

Recompile the firmware.
Ensure the device's CAN ID can be queried (or that Klipper is connected to the device).
Execute the same flashing command.

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

Successful Update Example

Confirm Firmware Startup

If the firmware starts normally, the LED will light up.
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Start Compilation​

Firmware Compilation Quick Guide​

Notes​

SSH Login and User Switching​

Switching Users:​

Firmware Compilation Operation Guide​

Start Firmware Compilation​

Wiring​

Search ID and Flash​

Query CANBus UUID​

Search Commands (Choose based on system)​

Search Result Explanation​

Scenario 1: Mainboard/Tool board already flashed with Klipper firmware​

Scenario 2: Mainboard + Tool board awaiting flashing​

Scenario 3: UTOC + Tool board awaiting flashing​

Scenario 4: No ID displayed​

Firmware Flashing​

Flashing Command​

Confirmation of Successful Flashing​

Firmware Update​

Update Method​

Successful Update Example​

Confirm Firmware Startup​