Katapult Firmware

Katapult Firmware Notes

Tip

Katapult was originally named CanBoot and later renamed to katapult.

• The Katapult firmware is a type of bootloader that can be used together with Klipper. After flashing via DFU or other methods, firmware can be updated with a single command.
• Advantages: Quickly double-click the reset button or power cycle twice to enter the Katapult firmware, at which point the LED on the motherboard will blink.
• Katapult firmware can only be used to flash firmware and cannot connect to Klipper!!!
• Katapult firmware supports three ways to connect to the host computer, and the firmware for each method is independent.
  • CAN connection
    • Advantages: After compiling the Klipper firmware, it can be updated directly using commands, with strong anti-interference capability.
    • Disadvantages: The firmware compilation speed needs to be known in advance.
  • RS232 connection
    • Advantages: After compiling the Klipper firmware, it can be updated using commands, with very strong anti-interference capability.
    • Disadvantages: Firmware cannot be updated with a single command; manual entry into Katapult firmware is required.
  • USB connection
    • Advantages: After compiling the Klipper firmware, it can be updated directly using commands.
    • Disadvantages: Long data cables are prone to interference, which may cause disconnection.

Tip

• SHT36 V2 can only be connected via CAN
• CAN firmware is provided in 500K and 1M rates

Notes

• APMF072 can only be flashed using a computer
• STM32F103 can only be updated using the host machine

Entering Flash Mode

Tip

The circled area is BOOT

• STM32F103 does not require this step!!!!
• With the motherboard completely powered off, short BOOT, then connect one end of a TYPE-C cable with data transfer capability to the motherboard and the other end to your device
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Flashing Firmware

• STM32F072 Flashing Tutorial for Windows
• STM32F072 Flashing Tutorial Using Host Machine
• APM32F072 Flashing Tutorial for Windows
• STM32F103 Firmware Update Tutorial Using Klipper

• Katapult firmware for SHT36_V2
• You can obtain the firmware via the following link:

• Download Firmware Package – Direct download of the latest firmware zip archive

Please note

The zip archive must be extracted before use.

• Repository Address – Access the firmware repository

• Alternatively, download the complete repository via git (ensure the host machine has internet access):

• For general systems

  cd && git clone https://cnb.cool/3dmellow/FLY-Firmware.git

• For FLY host machine

  git clone https://cnb.cool/3dmellow/FLY-Firmware.git /data/FLY-Firmware
  ln -s /data/FLY-Firmware /root/FLY-Firmware

• If the firmware package has already been downloaded, it is recommended to update to the latest version before proceeding:

  cd ~/FLY-Firmware && git pull

---

• The previous repository is no longer maintained. To delete it, execute:

  rm -rf ~/FLY_Katapult /root/FLY_Katapult

• Firmware location:

FLY-Firmware/ToolBoard/SHT36

Notice

To ensure successful STM32 flashing, please note the following:

• The USB port on some computers may cause unstable flashing due to driver or signal compatibility issues. It is recommended to try a different USB port for connection.
• If changing ports does not work, an effective solution is to connect via an external USB hub, which often improves compatibility.
• When the flashing software reports the error shown below, please also prioritize trying a USB hub. If the issue persists, check or use the host computer for flashing.
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1. Flashing tool Download Link
2. You need to download SetupSTM32CubeProgrammer and STM32 DFU Driver
3. Download the firmware to any directory on your computer
4. Connect the motherboard to the computer using a Type-C cable, ensuring it has entered dfu flashing mode
5. In STM32CubeProgrammer, select USB mode, refresh, and connect
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6. If no error popup appears, the connection is successful.
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7. Click the download icon on the left and check the following options
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8. Click Browse as indicated by the arrow, then select the firmware you need to flash
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9. Set Start address to 0x08000000
   • Note: If the firmware is in HEX format, please skip this step!!
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10. Click Start automatic mode below to begin flashing the firmware
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11. The following prompt indicates that the firmware flashing is complete
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1. Install the flashing tool

• This step is not required for FLY host machines.
• If installation is needed, ensure the host machine is connected to the internet.
• If the flashing tool is already installed, this step can be skipped.

sudo apt update
sudo apt install dfu-util -y

2. Check device connection status

• Run the following command to confirm whether the device is successfully connected:

lsusb

• If the DFU device is not recognized, try re-entering flashing mode.
• In some system versions, the device name may vary, but the appearance of 0483:df11 indicates successful entry into flashing mode.

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3. Obtain the precompiled firmware

• The firmware can be obtained through any of the following methods:

• Download Firmware Package – Direct download of the latest firmware zip archive

Please note

The zip archive must be extracted before use.

• Repository Address – Access the firmware repository

• Alternatively, download the complete repository via git (ensure the host machine has internet access):

• For general systems

  cd && git clone https://cnb.cool/3dmellow/FLY-Firmware.git

• For FLY host machine

  git clone https://cnb.cool/3dmellow/FLY-Firmware.git /data/FLY-Firmware
  ln -s /data/FLY-Firmware /root/FLY-Firmware

• If the firmware package has already been downloaded, it is recommended to update to the latest version before proceeding:

  cd ~/FLY-Firmware && git pull

---

• The previous repository is no longer maintained. To delete it, execute:

  rm -rf ~/FLY_Katapult /root/FLY_Katapult

4. Flashing Firmware

Tip

Only flash one of the firmware files

• Below is the flash command for 500K CAN rate firmware

sudo dfu-util -a 0 -d 0483:df11 --dfuse-address 0x08000000 -D ~/FLY-Firmware/ToolBoard/SHT36/FLY_SHT36V2_072_CANBOOT_500K.bin

• Below is the flash command for 1M CAN rate firmware

sudo dfu-util -a 0 -d 0483:df11 --dfuse-address 0x08000000 -D ~/FLY-Firmware/ToolBoard/SHT36/FLY_SHT36V2_072_CANBOOT_1M.bin

5. If you see the content File downloaded successfully as shown below, the flash is successful

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Tip

After flashing, completely power off the motherboard once.

• Katapult firmware for SHT36_V2
• You can obtain the firmware via the following link:

• Download Firmware Package – Direct download of the latest firmware zip archive

Please note

The zip archive must be extracted before use.

• Repository Address – Access the firmware repository

• Alternatively, download the complete repository via git (ensure the host machine has internet access):

• For general systems

  cd && git clone https://cnb.cool/3dmellow/FLY-Firmware.git

• For FLY host machine

  git clone https://cnb.cool/3dmellow/FLY-Firmware.git /data/FLY-Firmware
  ln -s /data/FLY-Firmware /root/FLY-Firmware

• If the firmware package has already been downloaded, it is recommended to update to the latest version before proceeding:

  cd ~/FLY-Firmware && git pull

---

• The previous repository is no longer maintained. To delete it, execute:

  rm -rf ~/FLY_Katapult /root/FLY_Katapult

• Firmware location:

FLY-Firmware/ToolBoard/SHT36

1. Download the flashing tool: Download Link
2. Install the DFU driver: Download and extract DFUProgrammer. The package includes the DFU driver for APM32. Please install this driver manually.
3. Prepare the firmware: Copy the previously compiled firmware file to any directory on your computer (e.g., the desktop) for easy selection later.
4. Enter DFU mode: Connect the mainboard to the computer using a Type-C cable. Ensure the mainboard is in DFU flashing mode (usually set via a jumper cap; for specific methods, refer to the mainboard's DFU entry instructions).
5. Run the flashing tool: Open DFUProgrammer and select and configure as shown in the images below:
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6. Start flashing: Click the "Start Updating Firmware" button and wait for the progress bar to complete. Once the flashing is successful, you can disconnect the Type-C cable and remove the jumper cap.

• Pull pre-compiled firmware
• These are all pre-compiled firmware files
• Note that the host machine needs internet access to install
• Execute the following command on the host to download the firmware package

cd && git clone https://cnb.cool/3dmellow/FLY-Firmware.git

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

cd ~/FLY-Firmware && git pull

• This method directly updates the existing Katapult firmware on the toolboard via CAN
• Replace <Toolboard ID> with the CAN ID of the toolboard with STM32F103 main controller

Version Notes

Choose the correct command based on your system version:

• FlyOS-FAST 1.3.8 and above or System with Klipper updated after April 9, 2026:

• 103 version 1M CAN rate:

~/klippy-env/bin/python ~/klipper/lib/katapult/flashtool.py -f ~/FLY-Firmware/developer/SHT36/FLY_SHT36V2_103_1M.BIN -u <Toolboard ID>

• 072 version 500K CAN rate:

~/klippy-env/bin/python ~/klipper/lib/katapult/flashtool.py -f ~/FLY-Firmware/developer/SHT36/FLY_SHT36V2_103_500K.BIN -u <Toolboard ID>

• Older system versions (Before FAST 1.3.8 or Klipper not updated before April 9, 2026):

• 103 version 1M CAN rate:

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

• 072 version 500K CAN rate:

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

Confirm Firmware Startup

• If the firmware starts normally, the LED will blink
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