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 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

• Among them, 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/RP235x and press Enter

  

• Select Bootloader offset, select: 16KiB bootloader

  

• Select Communication interface, select: CAN bus

  

• Select GPIO pins to set at micro-controller startup, input: gpio24
  
• Press Q key, when Save configuration appears, press Y again
  
• Now the configuration should be saved and you should be back to the command line interface
• Enter the following command to start compilation, it may take some time

make -j4

• If the output below is displayed, the compilation is successful

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

Search for Devices

• Please ensure that the host computer can access the Internet normally and ensure that the data cable connecting the lower computer to the host computer has data transmission function.
• After SSH connecting to the host computer, input lsusb and press Enter. If the information circled in the picture below is displayed, you can proceed to the next step.
  • If there is no feedback information, this is a system problem of the host computer, and we are powerless. You need to replace a confirmed normal system or replace the host computer.
  • If there is no lsusb command prompt, you can execute the following command to install it:

    sudo apt-get install usbutils

    
• 1d50:606f belongs to the device you will use this time.
• Some host computers may not fully display or fail to display due to system problems.
• If the lsusb command can display the device but there is no 1d50:606f, please try to replace the data cable and connect the motherboard to another USB port on the host computer.

Notice

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

Burn Firmware

• Before burning the firmware, use an XT30 data cable to connect the tool board to UTOC or a mainboard flashed with bridge firmware, refer to the wiring diagram below
  
• Ensure that the resistance of CAN H and CAN L is around 60Ω using a multimeter in a power-off state, if it is 120Ω, connect a 120Ω jumper, if it is around 40Ω, remove the jumper
  

tip

• It is recommended not to find the ID or flash the firmware during the printing process.
• The CAN firmware of the same motherboard or tool board Katapult and the CAN firmware of Klipper have completely consistent IDs.

warning

• Please ensure that the CAN network of the host computer has been configured.
• You can use the following command to search for the CAN ID only when 1d50:606f appears after running lsusb.
• The CAN rate of the tool board must be consistent with the host computer, otherwise the ID cannot be found and burned.

• Execute the following command to query the CANBus UUID:

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

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

  python ~/klipper/scripts/canbus_query.py can0

  • After inputting, one of the following situations will appear depending on your machine, the following are references:

    • First type: The motherboard with the bridge firmware installed will display an ID and prompt Application: Klipper
      
    • Second type: The motherboard with the bridge firmware installed and the tool board that needs to be burned with firmware will display two IDs
      
    • Third type: Using UTOC with the tool board that needs to be burned
    • Tip: UTOC does not display the ID
      
    • Fourth type: No ID prompt, usually because the klipper is occupied, the CAN0 rate of the host computer is incorrect, or there is a wiring anomaly
      

  • Normally, if the tool board that needs to be burned is in the CANBOOT state, it will prompt Application: CanBoot and the corresponding firmware light will flash. At this time, you need to burn the Klipper firmware, otherwise it cannot be connected!!!

  • Tip: If it is Klipper firmware and the ID has been entered into the configuration, the ID will not be displayed and will be occupied by Klipper. You need to disable the corresponding ID and restart the motherboard completely after cutting off the power.

  warning

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

Firmware Burning

• Replace 241696050c56 in the following command with the UUID found in the UUID query, note that there is a space after -u

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

• As shown in the figure below, if CAN Flash Success appears, the burning is successful.

  

Firmware Update

• If you need to update the firmware, you only need to re-execute the burning instruction after compiling the firmware.
• But please make sure that the corresponding ID can be found or Klipper is already connected.

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

  

Confirm Firmware Startup

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