Katapult Firmware

Katapult Firmware Description

Tip

Katapult was originally named CanBoot, and later renamed to Katapult

• Katapult firmware is a type of bootloader that can be used in conjunction with Klipper. After flashing via DFU or similar methods, one-click firmware updates can be performed using commands.
• Advantages: Quickly double-press the reset button or power cycle twice to enter Katapult firmware, during which 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 methods for connecting to the host machine, with each method’s firmware being independent of the others:
  • CAN connection
    • Advantages: After compiling the Klipper firmware, it can be updated directly using commands; strong anti-interference capability.
    • Disadvantages: The firmware compilation speed must be known in advance.
  • RS232 connection
    • Advantages: After compiling the Klipper firmware, it can be updated using commands; very strong anti-interference capability.
    • Disadvantages: One-click firmware updates via commands are not possible; 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, potentially causing disconnection.

Tip

• SHT36 V2 can only use CAN connection
• CAN firmware is provided here at 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

• This step is NOT required for STM32F103!!!!
• With the motherboard completely powered off, short the BOOT pins, then connect one end of a TYPE-C cable capable of data transfer to the motherboard and the other end to your device
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Flashing Firmware

• Flashing STM32F072 with Windows Tutorial
• Flashing STM32F072 with Host Machine Tutorial
• Flashing APM32F072 with Windows Tutorial
• Flashing STM32F103 with Klipper Update Tutorial

• SHT36_V2 Katapult firmware
• You can obtain the firmware via the following links:

• Download Firmware Package - Direct download of the latest firmware archive
• Repository Address - Access the firmware repository

• Firmware location is in

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 computers.
• If installation is needed, ensure the host computer is connected to the internet.
• If the flashing tool has already been installed, this step can be skipped.

sudo apt update
sudo apt install dfu-util -y

2. Check Device Connection Status

• Execute 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 differ. As long as 0483:df11 appears, it indicates successful entry into flashing mode.

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3. Obtain Precompiled Firmware

• Below are the precompiled firmware files. Please select the corresponding command to download based on your system type (ensure the host computer has internet access).

• For standard systems:

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

• For FLY host computers:

  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 it to the latest version before proceeding:

  cd ~/FLY-Firmware && git pull

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• The previous repository is no longer maintained. If you need to delete it, execute:

  rm -rf ~/FLY_Katapult /root/FLY_Katapult

4. Flashing the Firmware

Tip

Only one firmware needs to be flashed

• 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. Flashing is successful when the message File downloaded successfully appears as shown below

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Tip

After flashing, completely power off the motherboard once.

• SHT36_V2 Katapult firmware
• You can obtain the firmware via the following links:

• Download Firmware Package - Direct download of the latest firmware archive
• Repository Address - Access the firmware repository

• Firmware location is in

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

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

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

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 STM32F103-based toolboard
• Below is the firmware update command for the 103 version at 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>

• Below is the firmware update command for the 072 version at 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>

Confirming Firmware Startup

• If the firmware starts normally, the LED will blink
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