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

tip

请确保键盘输入法为半角模式，即英文模式

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

warning

Please enter in English input mode: !gpio5,!gpio19,!gpio24

Press Q, then a Save configuration will appear, press Y again
Now the configuration should be saved and exited to the command line interface
Enter 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
```

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.

Before burning the firmware, use an XT30 data cable to connect the tool board to UTOC or the mainboard with bridge firmware installed. Below is a reference wiring diagram.
Please check if the DIP switch is set correctly
Please ensure that the resistance between CAN H and CAN L is around 60Ω when measured with a multimeter under power-off conditions. If it is 120Ω, the 120Ω DIP switch needs to be turned on; if it is around 40Ω, the DIP switch needs to be turned off.

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

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>
```