CAN firmware compilation

Start compiling

• A host computer with the klipper service installed is required Connect via SSH over the network
• And the device is connected to the host computer
• Note: Please use a regular host computer, such as Raspberry Pi FLY. If it is a modified host computer (such as a WiFi stick, Redmi, etc.), due to too many issues, we cannot provide technical support

FlyOS-Armbian system and general system notes

warning

• Notes on FlyOS-Armbian system and general system
  • Ordinary host computer systems such as Raspberry Pi, FLY are viewed in this category
  • Do not use the ROOT user for any operations on these host computers
  • Please use a normal user for operations
  • To switch users, for FlyOS-Armbian system use the su fly command to switch to a normal user
  • For other systems, use the su <your host computer username> command to switch to a normal user

  su <your host computer username>

FlyOS-FAST system notes

warning

• Notes on FlyOS-FAST system
  • The default username for FAST system is root, password is mellow
  • Compiling firmware can only be done using the root user
  • And FAST system only has ROOT user, you don't need to switch users!!!

::: 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.

:::

1. The key ↑ (up arrow) and ↓ (down arrow) on the keyboard are used to move the cursor up and down to select menu items.
2. The confirm key Enter or spacebar Space is used to check the menu or enter a sub-menu.
3. The exit key ESC is used to return to the previous menu.
4. The Q key is used to exit the Klipper firmware configuration page.
5. 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

• Among them, rm -rf ~/klipper/.config && rm -rf ~/klipper/out is to delete previous compilation data and firmware, and 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 and then select Raspberry Pi RP2040/RP235x 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: !gpio5,!gpio19,!gpio24

warning

Please enter !gpio5,!gpio19,!gpio24 in English input method

• Press the Q key, and Save configuration appears, then press Y key
  
• Now the configuration should be saved and you should return to the command line interface
• Enter the following command to start compiling, it may take some time

make -j4

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

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

Search for device

• Use XT30 data cable to connect the tool board to UTOC or a mainboard with bridging firmware, at this time the mainboard will have LED blinking.

Warning

• If there is no LED blinking, please re-flash the katapult firmware: Flash katapult firmware
• If there is no LED blinking, please proceed to the next step after flashing the katapult firmware

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.

Flashing firmware

• Before flashing the firmware, use XT30 data cable to connect the tool board to UTOC or a mainboard with bridging firmware, the following is the reference wiring diagram
• Please note whether the dip switch is set to the correct position
  
• Please ensure that the CAN H and CAN L have a resistance of about 60Ω when powered off, if it is 120Ω, you need to turn on the 120Ω dip switch, if it is about 40Ω, you need to turn off the dip switch
  

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 if the firmware starts

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