CAN Firmware Compilation

Before Flashing

Confirm Current Mode and Operation Path

• Important Note: If the tool board is currently in Klipper-CAN mode, you can directly flash it via command after compiling the firmware. The command will automatically reset it into Katapult and complete the flashing.
• Factory State: The board comes pre-flashed with Katapult firmware in CAN mode at a rate of 1M.
• Status Check (Observe LED): If the onboard LED is blinking (as shown below), it indicates it is in Katapult mode and ready for flashing.
  
• Mode Exception: If the LED is not blinking, it means the firmware is not Katapult. You must first re-flash it following the guide in the link below: Click here to flash Katapult firmware

Set DIP Switches and Physical Connection

1. DIP Switch Setting: Regardless of the current state, please first set the onboard DIP switch to CAN mode, and turn the 120Ω switch ON (as shown below).

   

2. Device Connection: Use a CAN cable to connect the tool board to a UTOC or a mainboard that already has the bridge firmware flashed. Refer to the image below for wiring:

   

3. Critical Check (Termination Resistor): With the system completely powered off, use a multimeter to measure the resistance between the CAN_H and CAN_L pins.

   Device	Instructions
   Tool Board	Locate and install the jumper cap labeled 120Ω.
   Mainboard	If connected to a mainboard, also install its 120Ω jumper cap.
   UTOC Module	Has built-in resistor.

   How to Check:

   1. Ensure the system is completely powered off.
   2. Use a multimeter to measure the resistance between CAN-H and CAN-L on the tool board's CAN port.
   3. Result Interpretation:
      • Approx. 60Ω: Normal. Termination resistors at both ends are correctly connected.
      • Approx. 140Ω: Possible reversal of CAN-H and CAN-L connections.
      • Approx. 120Ω: The 120Ω resistor is not installed or there is a broken wire.
      • Approx. 90Ω: Only one 120Ω resistor is installed.
      • Approx. 40Ω: Possibly extra resistors present. Please check intermediate nodes.

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Start Compilation

• A host computer with the klipper service installed Connect via SSH over network
• And the device should be properly connected to the host computer
• Note: Please use a standard host computer, such as Raspberry Pi, FLY board, etc. If it is a modified host computer (e.g., WiFi dongle, Redmi devices), we cannot provide technical support due to numerous issues with such hosts

Firmware Compilation Guide for Standard Host

warning

• Applies to standard host computers running systems like Raspberry Pi, FLY board, etc.
• Do not use the ROOT user for any operations on such hosts
• Please perform operations using a regular user account
• To switch users, for the FlyOS-Armbian system, please use the command su fly to switch to the regular user
• For other systems, use the command su <your host username> to switch to the regular user

su <your host username>

FAST System Firmware Compilation Guide

warning

• Notes for the FlyOS-FAST system
  • The default username for the FAST system is root, and the password is mellow
  • Firmware compilation must be performed using the root user
  • The FAST system only has the ROOT user—you do not need to switch users!!!

::: 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 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, and 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 and then select Raspberry Pi RP2040/RP235x 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, enter:

  !gpio5

warning

Please input in English keyboard layout:

!gpio5

• Please compare with the image above to verify, ensure it matches exactly, then proceed to the next step
• Press the Q key, when Save configuration appears, then press the Y key
  
• You should now have saved the configuration and returned to the command line interface
• Enter the command below to start compilation. This will take some time.

make -j4

• Compilation is successful if the final output shows the following content.
• Due to Klipper version differences, the appearance of out/klipper.bin indicates success.

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

Search for ID and Flash

Search for Devices

• Now that you have successfully logged into the host computer, you can enter lsusb to search for devices. You may encounter one of the following situations:
  • If entering lsusb prompts that the ls command is not found, you can install the required utility by entering the following command:

    sudo apt-get install usbutils

  • If there is no response after entering lsusb, this is a system issue and cannot be resolved here. You will need to change the system or use a known working system.
  • If information like that shown in the image below appears, please note that this is only a reference. You only need to confirm that 1d50:606f appears:
    
• 1d50:606f is the device you will use in this instance.
• If multiple 1d50:606f devices appear, one must be excluded, as multiple entries may affect subsequent flashing and firmware connection. For example, with FLY MINI PAD, it is recommended to use the onboard UTOC and avoid using other CAN bridges.
• If the device does not appear, please check whether the data cable is properly connected and whether the correct firmware has been flashed.

Note

You can proceed to search for the CAN ID only when 1d50:606f appears.

tip

• It is recommended not to search for IDs or flash firmware during printing
• The CAN firmware ID of Katapult and the CAN firmware ID of Klipper are exactly the same for the same motherboard or toolboard

warning

• Please ensure that the host computer's CAN network has been configured
• The command to search for CAN ID can only be used when 1d50:606f appears after running lsusb
• The CAN speed of the toolboard must match that of the host computer, otherwise the ID cannot be found or the firmware cannot be flashed

• Run the following command to query the CANBus UUID:

Fly-Armbian and general host computer search method

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

Fly-FAST search method

python ~/klipper/scripts/canbus_query.py can0

• Several situations may occur after entering the command, depending on your machine. Below are references:

  • First case: a motherboard with bridging firmware flashed, showing one ID and indicating Application: Klipper
    
  • Second case: a motherboard with bridging firmware flashed and a toolboard requiring firmware flashing, showing two IDs
    
  • Third case: using UTOC with a toolboard requiring flashing
  • Note: UTOC will not display an ID
    
  • Fourth case: no ID shown, usually because it is occupied by Klipper, incorrect CAN0 speed on the host computer, or wiring issues
    

• Under normal circumstances, if the toolboard requiring flashing is in CANBOOT mode, it will show Application: CanBoot and the corresponding firmware light will be flashing. In this case, you need to flash the Klipper firmware, or else it cannot connect!!!

• Note: If it is a Klipper firmware and you have already entered the ID into the configuration, the ID will not be displayed and will be occupied by Klipper. You need to disable the corresponding ID and power off the motherboard completely before restarting it.

warning

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

Firmware Flashing

• Replace 241696050c56 in the command below with the UUID found earlier. 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 is successful

  

Firmware Update

• To update the firmware, simply recompile the firmware and execute the flashing command again to update it
• However, please ensure that the corresponding ID can be found or that Klipper has already connected

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

  

Confirm Firmware Startup

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