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 the introduction on how to compile the firmware:

After connecting to SSH, input 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, choose: 16KiB bootloader
Select Communication interface, choose: CAN bus

Select GPIO pins to set at micro-controller startup, input: gpio24
Press Q key, appear Save configuration, then 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
Finally, output the following content indicates successful compilation
```
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 flashing firmware, connect the tool board to UTOC or a mainboard flashed with bridge firmware using an XT30 data cable, below is a reference wiring diagram
Please ensure that the resistance of CAN H and CAN L is around 60Ω when measured with a multimeter in a power-off state; if it's 120Ω, you need to attach a 120Ω jumper; if it's around 40Ω, you need to remove the jumper

tip

It is recommended not to perform ID finding and firmware flashing during the printing process.
The CAN firmware IDs of the same motherboard or tool board Katapult are completely consistent with the Klipper CAN firmware IDs.

warning

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.

Replace 241696050c56 in the following command with the UUID found during the query. Please 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.

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