Katapult Firmware

Katapult Firmware Description

tip

Katapult was originally named CanBoot and was later renamed.

• Katapult firmware is a type of bootloader that can be used in conjunction with Klipper. After being flashed using methods like DFU, you can use commands to update the firmware in one click.
• Advantages: Double resetting or quickly cutting power twice will enter the Katapult firmware, and the pre-configured LED will flash; if not configured, it won't flash.
• The Katapult firmware can only be used for flashing firmware and cannot connect to Klipper!!!
• There are three ways to connect the Katapult firmware to the host machine:
  • CAN connection
    • Advantages: After compiling the KLIPPER firmware, you can directly update the firmware using commands.
    • Disadvantages: You need to know the firmware compilation rate in advance.
  • RS232 connection
    • Advantages: After compiling the KLIPPER firmware, you can update the firmware using commands.
    • Disadvantages: You cannot update the firmware in one click using commands; you need to manually enter the Katapult firmware.
  • USB connection
    • Advantages: After compiling the KLIPPER firmware, you can directly update the firmware using commands.

tip

• SHT36 V2 can only use CAN connection
• Here we provide CAN firmware with 500K and 1M baud rates

Precautions

• APMF072 can only use a computer to flash firmware
• STM32F103 can only update firmware through the host software

Entering Flash Mode

tip

The circled part is the BOOT switch

• STM32F103 does not need to follow this step!!!
• With the mainboard completely powered off, press and hold the BOOT button, then connect the data line to both the mainboard and your device
  

Flashing Firmware

STM32F072 Windows Flashing Tutorial

• Katapult firmware for SHT36_V2 Click to download firmware automatically

Notice

• System compatibility issues, please use the computer's USB2.0 for burning
• If it still cannot be burned, please use an upper machine for burning

1. Burning tool Download link
2. Download SetupSTM32CubeProgrammer and STM32 DFU driver
3. Copy the compiled firmware (klipper.bin) or precompiled Katapult firmware to any directory on your computer
4. Connect the motherboard to the computer using a Type-C data cable, ensuring that it has already entered DFU burning mode
5. In STM32CubeProgrammer, select USB mode and refresh to connect
   
6. If no error pop-up appears, the connection is successful
7. Click the download icon on the left and select several options below
   
8. Click the arrow point to Browse, then choose the firmware you need to burn
   
9. Select Start address and enter 0x08000000
   
10. Click Start automatic mode below to start burning the firmware
    
11. The following prompt indicates that the firmware burning is complete
    

STM32F072 Host Software Flashing Tutorial

1. Install the programming tool

• No need to install the programming tool for the FLY upper computer.
• If you need to install it, please note: The upper computer needs to be connected to the internet to install successfully.
• If already installed, no need to install again.

sudo apt update
sudo apt install dfu-util -y

2. Execute the following command to check if the connection is successful.

lsusb

• If there is no DFU device, please try to re-enter programming mode.
• Due to system version issues, other names may be displayed. If 0483:df11 is shown, it indicates that the programming mode has been entered.

3. Pull the pre-compiled firmware

• These are all pre-compiled firmwares.
• Please note: The upper computer needs to be connected to the internet to install.
• The upper computer needs to execute the command below to download the firmware package.

cd && git clone https://github.com/FengHua741/FLY_Katapult.git

• If the firmware package has already been downloaded, it is recommended to update the firmware package before proceeding with the remaining steps.

cd ~/FLY_Katapult && git pull

4. Flash the firmware

tip

You only need to flash one of the firmware files

• Below is the firmware flashing command for 500K CAN baud rate

sudo dfu-util -a 0 -d 0483:df11 --dfuse-address 0x08000000 -D ~/FLY_Katapult/developer/SHT36/FLY_SHT36V2_072_500K.BIN

• Below is the firmware flashing command for 1M CAN baud rate

sudo dfu-util -a 0 -d 0483:df11 --dfuse-address 0x08000000 -D ~/FLY_Katapult/developer/SHT36/FLY_SHT36V2_072_1M.BIN

5. If you see the content indicated by the arrow below, the firmware has been successfully flashed

   

tip

After flashing, you need to completely power off the mainboard once.

APM32F072 Windows Flashing Tutorial

• Katapult firmware for SHT36_V2 Click to download firmware automatically

1. Flashing Tool Download Link
2. Download DFUProgrammer
3. Copy the previously compiled firmware (klipper.bin) or the pre-compiled Katapult firmware to any directory on your computer
4. Connect the motherboard to the computer using a Type-C data cable, and ensure it has entered DFU flashing mode
5. Open DFUProgrammer and follow the instructions below
   
   
6. Click to start updating the firmware and wait for it to complete. After the flashing is done, you can remove the Type-C cable and jumpers.

STM32F103 Klipper Firmware Update Tutorial

• Please ensure the host machine can connect to the network normally.
• Please ensure the data cable connecting the lower-level machine to the host machine has data transfer capabilities.
• After SSH connecting to the host machine, input lsusb and press enter. One of the following three situations may occur:
  • Displays recognized USB devices.
  • Prompts that there is no ls command; you can execute this command to install it:

    sudo apt-get install usbutils
  • No error message, no other information (system issues need to be replaced with a normal system).
• If there is no reaction after entering lsusb, this indicates a system issue beyond our control, and you need to replace it with a confirmed normal system.
• If the information circled in the image below appears, you can proceed to the next step.
  
• 1d50:606f belongs to the device you will use this time. Ignore the subsequent prompts as system issues may cause them to display incompletely or not at all.
• If there are two 1d50:606f, you need to determine why there are two and exclude one before restarting the system.
• Two 1d50:606f will affect subsequent burning and firmware connections, such as for FLY MINI PAD, it is recommended to use only the on-board UTOC and not other CAN bridge devices.
• If there is no 1d50:606f, please check if the data cable is properly connected and if the firmware has been correctly flashed.

Note

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

• Pull precompiled firmware
• Here are all precompiled firmware files
• Please ensure the host can access the internet for installation
• The host needs to execute the following command to download the firmware package

cd && git clone https://github.com/FengHua741/FLY_Katapult.git

• If you have already downloaded the firmware package, it is recommended to update it before proceeding

cd ~/FLY_Katapult && git pull

• This method updates the existing Katapult firmware on the toolboard directly through CAN
• Replace <Toolboard ID> with the CAN ID of the toolboard controlled by STM32F103
• Below is the firmware update command for the 103 version with 1M CAN baud rate

~/klippy-env/bin/python ~/klipper/lib/canboot/flash_can.py -f ~/FLY_Katapult/developer/SHT36/FLY_SHT36V2_103_1M.BIN  -u <Toolboard ID>

• Below is the firmware update command for the 072 version with 500K CAN baud rate

~/klippy-env/bin/python ~/klipper/lib/canboot/flash_can.py -f ~/FLY_Katapult/developer/SHT36/FLY_SHT36V2_103_500K.BIN  -u <Toolboard ID>

Confirming Firmware Startup

• If the firmware starts correctly, the LED will start flashing