CAN Firmware Compilation

Start Compilation

• A host machine with the installed klipper service is required Connect via SSH over the network
• Make sure the device is connected to the host machine
• Note: Please use a regular host machine, such as a Raspberry Pi FLY board, etc. If it's a modified host machine (e.g., WiFi stick, Redmi, etc.), due to too many issues, we cannot provide technical support for these machines

warning

• To switch from the ROOT user to a regular user, you can enter the command below
• Do not use the ROOT user
• For the fly user, you can directly enter: su fly. For non-fly users, please replace <your host machine username> with your host machine's username!

su <your host machine username>

::: 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.

:::

1. The key ↑ (up arrow) and ↓ (down arrow) on the keyboard are used to move the cursor up and down to select menu items.
2. The confirm key Enter or spacebar Space is used to check the menu or enter a sub-menu.
3. The exit key ESC is used to return to the previous menu.
4. The Q key is used to exit the Klipper firmware configuration page.
5. 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 an 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

• Where rm -rf ~/klipper/.config && rm -rf ~/klipper/out is to delete previous compilation data and firmware, make menuconfig is to compile 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 Raspberry Pi RP2040 and press Enter

  

• Select Bootloader offset, select: 16KiB bootloader

  

• Select Communication interface, select: CAN bus

  

• Select (4) CAN RX gpio number, delete 4 and input 1

• Select (5) CAN TX gpio number, delete 5 and input 0

  

• Select GPIO pins to set at micro-controller startup, input: !gpio5

warning

Please enter !gpio5 in English input mode.

• Please check against the above figure to ensure consistency with the figure, then proceed to the next step

• Press Q, a Save configuration prompt will appear, then press Y

  

• Now the configuration should be saved and you should have exited to the command line interface

• Enter make -j4 to start compiling, it may take some time

  

• Finally, output the following content indicating successful compilation

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

---

Host Machine Configuration

warning

If your host machine is a FLY host machine, skip the Host Machine Configuration step.

warning

If your host machine is a non-FLY host machine, please execute the following steps

Check if the host machine supports CAN

• If it is a FLY host machine, this operation is not required
• If your system is Ubuntu, you need to configure Ubuntu CAN0, this document has not been updated yet
• Enter the following command to check if the system supports CAN

sudo modprobe can && echo "Your kernel supports CAN" || echo "Your kernel does not support CAN"

• After entering the above command, if your kernel supports CAN, it will return: Your kernel supports CAN; otherwise, it will return: Your kernel does not support CAN.

tip

If it returns Your kernel supports CAN, you can proceed to configure CAN0; if it returns Your kernel does not support CAN, please replace your host machine system or switch to another host machine!

Configure CAN0

• This command overwrites the original CAN0 configuration of the system, and the system needs to be restarted after execution
• Please choose one according to the actual situation (Klipper default CAN speed is 1M, it is recommended to use 1M speed)

warning

For 1M speed, enter the following command

sudo /bin/sh -c "cat > /etc/network/interfaces.d/can0" << EOF
    allow-hotplug can0
    iface can0 can static
        bitrate 1000000
        up ifconfig $IFACE txqueuelen 1024
        pre-up ip link set can0 type can bitrate 1000000
        pre-up ip link set can0 txqueuelen 1024
EOF

warning

For 500K speed, enter the following command

sudo /bin/sh -c "cat > /etc/network/interfaces.d/can0" << EOF
allow-hotplug can0
iface can0 can static
    bitrate 500000
    up ifconfig $IFACE txqueuelen 1024
    pre-up ip link set can0 type can bitrate 500000
    pre-up ip link set can0 txqueuelen 1024
EOF

• Restart the device

sudo reboot

Search for Devices

• Please ensure that the host machine can connect to the network normally and ensure that the data cable connecting the lower machine to the host machine has data transmission function.
• After SSH connection to the host machine, enter lsusb and press Enter. If the information circled in the picture below appears, you can proceed to the next step.
  • If there is no feedback at all, this is a system issue of the host machine, and we are unable to help. You need to replace a confirmed normal system or replace the host machine.
  • If the instruction lsusb is not recognized, you can execute the following command to install it:

    sudo apt-get install usbutils

    
• The ID displayed in the red box can be used as a reference but is not a fixed ID and may vary. The suffix OpenMoko, Inc. Geschwister Schneider CAN adapter has a basis for judgment.
• Some host machines may display incomplete or no information due to system issues.

Burn Firmware

• Before burning the firmware, connect the tool board to UTOC or the mainboard flashed with bridge firmware using an XT30 data cable. Below is the reference wiring diagram
• Please pay attention to whether the DIP switches are set correctly
  
• Please ensure that the resistance between CAN H and CAN L is around 60Ω when measured with a multimeter in a power-off state; if it is 120Ω, you need to connect a 120Ω jumper; if it is around 40Ω, you need to remove the jumper
  

tip

• It is recommended not to perform ID finding and firmware flashing during the printing process.
• The CAN firmware IDs of the same motherboard or tool board Katapult are completely consistent with the Klipper CAN firmware IDs.

warning

• Ensure that the CAN network of the host computer has been configured.
• You can use the following command to search for the CAN ID only when 1d50:606f appears after running lsusb.
• The CAN rate of the tool board must be consistent with the host computer; otherwise, the ID cannot be found and burned.

• Execute the following command to query the CANBus UUID:

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

  • After entering, you will encounter one of the following situations based on your machine. Below are references:

    • First case: A motherboard with bridge firmware installed displays an ID and prompts Application: Klipper.
      
    • Second case: A motherboard with bridge firmware installed, along with a tool board that requires firmware burning, displays two IDs.
      
    • Third case: Using UTOC with a tool board that requires firmware burning.
    • Tip: UTOC does not display the ID.
      
    • Fourth case: No ID prompt, generally due to Klipper occupation, incorrect CAN0 rate of the host computer, or wiring abnormalities.
      

  • Normally, if the tool board that needs to be burned is in CANBOOT mode, it will prompt Application: CanBoot, and the corresponding firmware light will flash. At this point, you need to burn the Klipper firmware; otherwise, it cannot be connected!!!

  • Tip: If it is a Klipper firmware and the ID has been filled into the configuration, the ID will not be displayed and will be occupied by Klipper. You need to shield the corresponding ID and power off/restart the mainboard completely.

  warning

  • If no UUID is queried, please refer to the following document.
  • CAN Problem Collection

Firmware Burning

• Replace 241696050c56 in the following command with the UUID found during the query. Please note that 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 burning is successful.

  

If you need to update the firmware, just re-execute the burning instruction after compiling the firmware, but ensure that the ID can be found or Klipper is already connected.

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

Confirm Firmware Startup

• If the firmware starts up normally, the LED will light up