072 Version 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
- FlyOS-FAST system notes
- 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 thesu 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>
- Notes on
FlyOS-FAST
system- The default username for
FAST system
isroot
, password ismellow
- Compiling firmware can only be done using the
root
user - And
FAST system
only hasROOT
user, you don't need to switch users!!!
- The default username for
::: 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.
:::
- The key
↑
(up arrow) and↓
(down arrow) on the keyboard are used to move the cursor up and down to select menu items. - The confirm key
Enter
or spacebarSpace
is used to check the menu or enter a sub-menu. - The exit key
ESC
is used to return to the previous menu. - The
Q
key is used to exit the Klipper firmware configuration page. - 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 for compiling 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 STMicroelectronics STM32 and press Enter
-
Enter the menu Processor model, select STM32F072 and press Enter
-
Select Bootloader offset, select: 8KiB bootloader
-
Select Communication interface, select: CAN bus (on PB8/PB9)
- Select GPIO pins to set at micro-controller startup, enter: !PC13 Note that it is uppercase
- Press the
Q
key, and Save configuration appears, then pressY
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 output is as follows, the compilation is successful
Linking out/klipper.elf
Creating hex file out/klipper.bin
Wiring
- Before burning the firmware, connect the tool board to UTOC or a mainboard with bridging firmware using an XT30 data cable, the following is a reference wiring diagram
- Please note whether the switch is set to the correct position
- Ensure that the resistance of CAN H and CAN L is around
60Ω
when powered off, if it is120Ω
, you need to connect the120Ω
jumper, if it is around40Ω
, you need to remove the jumper
Search for Devices
- Please ensure that the host computer can access the Internet normally and ensure that the data cable connecting the lower computer to the host computer has data transmission function.
- After SSH connecting to the host computer, input
lsusb
and press Enter. If the information circled in the picture below is displayed, you can proceed to the next step.- If there is no feedback information, this is a system problem of the host computer, and we are powerless. You need to replace a confirmed normal system or replace the host computer.
- If there is no
lsusb
command prompt, you can execute the following command to install it:sudo apt-get install usbutils
1d50:606f
belongs to the device you will use this time.- Some host computers may not fully display or fail to display due to system problems.
- If the
lsusb
command can display the device but there is no1d50:606f
, please try to replace the data cable and connect the motherboard to another USB port on the host computer.
You can proceed to the next step only when there is 1d50:606f
.
Search for ID and Burn
- It's recommended not to search for IDs or flash firmware during printing
- The CAN firmware ID of the same mainboard or toolboard Katapult is exactly the same as the Klipper CAN firmware ID
- Please ensure that the host computer's CAN network has been configured
- The command to search for
CAN ID
can only be used if1d50:606f
appears after running lsusb - The CAN speed of the toolboard must match the host computer, otherwise the
ID
cannot be found or flashed
-
Run the following command to query the CANBus UUID:
~/klippy-env/bin/python ~/klipper/scripts/canbus_query.py can0
Use this command to search for
CAN_ID
onfast
systemspython ~/klipper/scripts/canbus_query.py can0
-
After entering the command, several situations might occur depending on your machine, as follows (for reference only):
- First case: A mainboard with bridging firmware flashed, one ID appears and
Application: Klipper
is prompted - Second case: A mainboard with bridging firmware flashed, paired with a toolboard needing firmware flashing, two IDs appear
- Third case: Using
UTOC
paired with a toolboard needing flashing - Tip:
UTOC
will not display an ID - Fourth case: No ID is prompted, usually because it is occupied by Klipper, the CAN0 speed of the host computer is incorrect, or there is a wiring issue
- First case: A mainboard with bridging firmware flashed, one ID appears and
-
Under normal circumstances, if the toolboard that needs flashing is in CANBOOT mode,
Application: CanBoot
will be prompted and the corresponding firmware light will blink. At this time, you need to flash the Klipper firmware, otherwise it will not connect!!! -
Tip: If it is a Klipper firmware and you have already filled in the ID in the configuration, the ID will no longer be displayed and will be occupied by Klipper. You need to comment out the corresponding ID and completely power off and restart the mainboard.
-
- If the UUID cannot be found, please refer to the document below
- CAN Issues Collection
Firmware Flashing
-
Replace
241696050c56
in the command below with the UUID found using the query UUID command. 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 was successful
Firmware Update
- If you need to update the firmware, simply re-run the flashing command after compiling the new firmware
- However, please ensure that the corresponding ID can be found or that Klipper is already connected
python3 ~/klipper/lib/canboot/flash_can.py -u <MCU ID>
Confirm if the Firmware Starts
- If the firmware starts normally, the LED will light up