072 Version CAN Firmware Compilation

Start Compilation

Brief Guide to Firmware Compilation

Notes

• Network: Ensure the host (Raspberry Pi, etc.) is connected to the internet.
• Login Method: Must log in via SSH over the network; serial port access is disabled.
• Input Method: Keep the keyboard in English half-width mode.

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SSH Login and User Switching

Use tools like MobaXterm, PuTTY, etc., to SSH into the host.

Switch User:

• Standard System (Official Raspberry Pi system, etc.)
  Do not use root; switch to a regular user:

  su <username>

• FLY Host System (FlyOS-FAST system)
  Only supports login as root user (password: mellow)

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Firmware Compilation Operation Guide

In the Klipper firmware configuration interface, only keyboard operations are supported; the mouse cannot be used.

Key	Function
↑ / ↓	Move cursor up/down to select menu items
Enter / Space	Confirm selection, check options, or enter submenus
ESC	Return to the previous menu
Q	Exit the configuration interface
Y	If prompted when exiting, press Y to save the configuration

Start Firmware Compilation

The following describes how to compile the firmware:

• After connecting via SSH, enter 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. Once executed, the following interface should appear

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• Select Enable extra low-level configuration options and press Enter

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• Enter the menu Micro-controller Architecture, then select STMicroelectronics STM32 and press Enter

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• Enter the menu Processor model, select STM32F072 and press Enter

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• Select Bootloader offset, choose: 8KiB bootloader

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• Select Communication interface, choose: CAN bus (on PB8/PB9)

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• Select GPIO pins to set at micro-controller startup, input: !PC13 (Note: Please use uppercase)
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• Press the Q key, when Save configuration appears, then press the Y key
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• The configuration should now be saved, and you will exit to the command line interface
• Enter the following command to start compilation (it will take some time)

make -j4

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• Compilation is successful when the following output appears at the end
• Due to Klipper version variations, as long as out/klipper.bin appears, it means success

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

Wiring

• Before flashing the firmware, connect the tool board to the UTOC or the motherboard with bridge firmware using an XT30 cable. The reference wiring diagram is shown below.
• Please ensure the DIP switch is set to the corresponding position.
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• Ensure that the resistance between CAN H and CAN L is approximately 60Ω measured with a multimeter while the system is powered off. If it is 120Ω, connect the 120Ω jumper. If it is around 40Ω, remove the jumper.
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Search ID and Flash

Querying CANBus UUID

Prerequisites

• It is recommended to perform ID query and firmware flashing operations in a non-printing state to avoid interfering with the printing process.
• The Katapult (CANBoot) firmware and Klipper firmware on the same mainboard/toolboard use the same CAN ID.

Prerequisites

Please ensure the following conditions are met, otherwise the CAN ID may not be found:

1. The host's CAN network is correctly configured
2. The toolboard's CAN baud rate is exactly the same as the host's (inconsistent baud rates will prevent communication)
3. Executing the lsusb command shows the 1d50:606f device (USB-CAN adapter)

Search Command (Choose based on system)

• Standard host search command

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

• FLY host search command

  python3 ~/klipper/scripts/canbus_query.py can0

Search Result Explanation

Case 1: Mainboard/Toolboard with Klipper Firmware Flashed

• Display: Shows one CAN ID, with the prompt Application: Klipper
• Explanation: The device is already running Klipper firmware and can be used directly. This ID could belong to the mainboard or the toolboard.
• Differentiation Method: Disconnect the toolboard's CAN cable and search again. If the ID disappears, it belongs to the toolboard; if the ID remains, it belongs to the mainboard.

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Case 2: Mainboard + Toolboard Ready for Flashing

• Display: Shows two CAN IDs
• Explanation: The mainboard runs Klipper firmware, and the toolboard runs CanBoot firmware, waiting to be flashed.

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Case 3: UTOC + Toolboard Ready for Flashing

• Display: The UTOC itself does not display an ID, only the toolboard's ID is shown
• Explanation: The UTOC acts only as a bridge; ensure the toolboard is in CanBoot mode.

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Case 4: No ID Displayed

• Display: No IDs are shown
• Possible Reasons:
  1. The CAN bus is occupied by Klipper
  2. Incorrect baud rate configuration on the host's CAN0 interface
  3. Physical wiring issues
  4. The device is not in CanBoot mode

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Important Notes

• Ready for Flashing State: When the toolboard is in CanBoot mode, it will display Application: CanBoot and the firmware LED will blink. Firmware flashing can be performed at this time.
• ID Occupancy Handling: If a device is already running Klipper firmware and the ID has been entered in the configuration file, the ID will not be shown (occupied by Klipper). To display it again, you need to comment out the ID in the configuration and perform a complete power cycle.

Troubleshooting

If you cannot query the UUID, please refer to: CAN Issue Troubleshooting Guide

Firmware Flashing

Flash Command

1. Replace 241696050c56 in the command below with the UUID you actually queried
2. Note: A space is required after the -u parameter

python3 ~/klipper/lib/canboot/flash_can.py -u 241696050c56

Confirming Successful Flash

A CAN Flash Success prompt indicates successful flashing:

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Firmware Update

Update Method

When a firmware update is required, simply:

1. Recompile the firmware
2. Ensure the device's CAN ID can be queried (or that Klipper is connected to the device)
3. Execute the same flashing command

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

Update Success Example

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Confirm Firmware Startup

• If the firmware starts normally, the LED will light up.
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Method to Reset into Flashing Mode

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