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, 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, enter: gpio24
  
• 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 takes some time

make -j4

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

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

Wiring

• Before flashing the firmware, use an XT30 data cable to connect the tool board to UTOC or a mainboard with bridging firmware, the following is a reference wiring diagram
  
• 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 connect the 120Ω jumper, if it is about 40Ω, you need to remove the jumper
  
• After connecting the tool board to UTOC or a mainboard with bridging firmware using an XT30 data cable, 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

• Now that you have successfully logged into the host computer, you can enter lsusb to search for devices. You may encounter one of the following situations:
  • If entering lsusb prompts that the ls command is not found, you can install the required utility by entering the following command:

    sudo apt-get install usbutils

  • If there is no response after entering lsusb, this is a system issue and cannot be resolved here. You will need to change the system or use a known working system.
  • If information like that shown in the image below appears, please note that this is only a reference. You only need to confirm that 1d50:606f appears:
    
• 1d50:606f is the device you will use in this instance.
• If multiple 1d50:606f devices appear, one must be excluded, as multiple entries may affect subsequent flashing and firmware connection. For example, with FLY MINI PAD, it is recommended to use the onboard UTOC and avoid using other CAN bridges.
• If the device does not appear, please check whether the data cable is properly connected and whether the correct firmware has been flashed.

Note

You can proceed to search for the CAN ID only when 1d50:606f appears.

Search ID and Flash

tip

• It is recommended not to search for IDs or flash firmware during printing
• The CAN firmware ID of Katapult and the CAN firmware ID of Klipper are exactly the same for the same motherboard or toolboard

warning

• Please ensure that the host computer's CAN network has been configured
• The command to search for CAN ID can only be used when 1d50:606f appears after running lsusb
• The CAN speed of the toolboard must match that of the host computer, otherwise the ID cannot be found or the firmware cannot be flashed

• Run the following command to query the CANBus UUID:

Fly-Armbian and general host computer search method

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

Fly-FAST search method

python ~/klipper/scripts/canbus_query.py can0

• Several situations may occur after entering the command, depending on your machine. Below are references:

  • First case: a motherboard with bridging firmware flashed, showing one ID and indicating Application: Klipper
    
  • Second case: a motherboard with bridging firmware flashed and a toolboard requiring firmware flashing, showing two IDs
    
  • Third case: using UTOC with a toolboard requiring flashing
  • Note: UTOC will not display an ID
    
  • Fourth case: no ID shown, usually because it is occupied by Klipper, incorrect CAN0 speed on the host computer, or wiring issues
    

• Under normal circumstances, if the toolboard requiring flashing is in CANBOOT mode, it will show Application: CanBoot and the corresponding firmware light will be flashing. In this case, you need to flash the Klipper firmware, or else it cannot connect!!!

• Note: If it is a Klipper firmware and you have already entered the ID into the configuration, the ID will not be displayed and will be occupied by Klipper. You need to disable the corresponding ID and power off the motherboard completely before restarting it.

warning

• If no UUID is queried, please refer to the document below
• CAN Problem Collection

Firmware Flashing

• Replace 241696050c56 in the command below with the UUID found earlier. Please note 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 flashing is successful

  

Firmware Update

• To update the firmware, simply recompile the firmware and execute the flashing command again to update it
• However, please ensure that the corresponding ID can be found or that Klipper has already connected

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

  

Confirm Firmware Startup

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