USB Bridge CAN Firmware Compilation
- The Micro4 comes pre-flashed with the Katapult firmware for USB connection, so there is no need to flash it again.
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.
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:
- FLY Host System (FlyOS-FAST system)
Only supports login as root user (password: mellow)
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 |
Starting Firmware Compilation
Below is an introduction on how to compile the firmware:
-
Connect via SSH, enter the following command, and press Enter:
cd ~/klipper && rm -rf ~/klipper/.config && rm -rf ~/klipper/out && make menuconfig
Here, rm -rf ~/klipper/.config && rm -rf ~/klipper/out is used to clear previous compilation configurations and firmware;
make menuconfig is used to open the Klipper firmware configuration interface.
-
Follow the order below to set each item one by one, completing each before moving on to the next.
1启用 Enable extra low-level configuration options
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (Raspberry Pi RP2040/RP235x) --->
Processor model (rp2040) --->
Bootloader offset (16KiB bootloader) --->
Communication Interface (USB to CAN bus bridge) --->
(4) CAN RX gpio number
(5) CAN TX gpio number
USB ids --->
(1000000) CAN bus speed
[*] Optimize stepper code for 'step on both edges'
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
[Space/Enter] Toggle/enter[?] Help[/] Search
[Q] Quit (prompts for save)[Esc] Leave menu
2Micro-controller Architecture 选择 Raspberry Pi RP2040/RP235x
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (Raspberry Pi RP2040/RP235x) --->
Processor model (rp2040) --->
Bootloader offset (16KiB bootloader) --->
Communication Interface (USB to CAN bus bridge) --->
(4) CAN RX gpio number
(5) CAN TX gpio number
USB ids --->
(1000000) CAN bus speed
[*] Optimize stepper code for 'step on both edges'
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
[Space/Enter] Toggle/enter[?] Help[/] Search
[Q] Quit (prompts for save)[Esc] Leave menu
3Processor model 选择 rp2040
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (Raspberry Pi RP2040/RP235x) --->
Processor model (rp2040) --->
Bootloader offset (16KiB bootloader) --->
Communication Interface (USB to CAN bus bridge) --->
(4) CAN RX gpio number
(5) CAN TX gpio number
USB ids --->
(1000000) CAN bus speed
[*] Optimize stepper code for 'step on both edges'
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
[Space/Enter] Toggle/enter[?] Help[/] Search
[Q] Quit (prompts for save)[Esc] Leave menu
4Bootloader offset 选择 16KiB bootloader
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (Raspberry Pi RP2040/RP235x) --->
Processor model (rp2040) --->
Bootloader offset (16KiB bootloader) --->
Communication Interface (USB to CAN bus bridge) --->
(4) CAN RX gpio number
(5) CAN TX gpio number
USB ids --->
(1000000) CAN bus speed
[*] Optimize stepper code for 'step on both edges'
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
[Space/Enter] Toggle/enter[?] Help[/] Search
[Q] Quit (prompts for save)[Esc] Leave menu
5Communication Interface 选择 USB to CAN bus bridge
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (Raspberry Pi RP2040/RP235x) --->
Processor model (rp2040) --->
Bootloader offset (16KiB bootloader) --->
Communication Interface (USB to CAN bus bridge) --->
(4) CAN RX gpio number
(5) CAN TX gpio number
USB ids --->
(1000000) CAN bus speed
[*] Optimize stepper code for 'step on both edges'
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
[Space/Enter] Toggle/enter[?] Help[/] Search
[Q] Quit (prompts for save)[Esc] Leave menu
6CAN RX gpio number 设置为 4
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (Raspberry Pi RP2040/RP235x) --->
Processor model (rp2040) --->
Bootloader offset (16KiB bootloader) --->
Communication Interface (USB to CAN bus bridge) --->
(4) CAN RX gpio number
(5) CAN TX gpio number
USB ids --->
(1000000) CAN bus speed
[*] Optimize stepper code for 'step on both edges'
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
[Space/Enter] Toggle/enter[?] Help[/] Search
[Q] Quit (prompts for save)[Esc] Leave menu
7CAN TX gpio number 设置为 5
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (Raspberry Pi RP2040/RP235x) --->
Processor model (rp2040) --->
Bootloader offset (16KiB bootloader) --->
Communication Interface (USB to CAN bus bridge) --->
(4) CAN RX gpio number
(5) CAN TX gpio number
USB ids --->
(1000000) CAN bus speed
[*] Optimize stepper code for 'step on both edges'
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
[Space/Enter] Toggle/enter[?] Help[/] Search
[Q] Quit (prompts for save)[Esc] Leave menu
8USB ids 保持默认，无需进入
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (Raspberry Pi RP2040/RP235x) --->
Processor model (rp2040) --->
Bootloader offset (16KiB bootloader) --->
Communication Interface (USB to CAN bus bridge) --->
(4) CAN RX gpio number
(5) CAN TX gpio number
USB ids --->
(1000000) CAN bus speed
[*] Optimize stepper code for 'step on both edges'
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
[Space/Enter] Toggle/enter[?] Help[/] Search
[Q] Quit (prompts for save)[Esc] Leave menu
9CAN bus speed 设置为 1000000
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (Raspberry Pi RP2040/RP235x) --->
Processor model (rp2040) --->
Bootloader offset (16KiB bootloader) --->
Communication Interface (USB to CAN bus bridge) --->
(4) CAN RX gpio number
(5) CAN TX gpio number
USB ids --->
(1000000) CAN bus speed
[*] Optimize stepper code for 'step on both edges'
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
[Space/Enter] Toggle/enter[?] Help[/] Search
[Q] Quit (prompts for save)[Esc] Leave menu
10启用 Optimize stepper code for 'step on both edges'
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (Raspberry Pi RP2040/RP235x) --->
Processor model (rp2040) --->
Bootloader offset (16KiB bootloader) --->
Communication Interface (USB to CAN bus bridge) --->
(4) CAN RX gpio number
(5) CAN TX gpio number
USB ids --->
(1000000) CAN bus speed
[*] Optimize stepper code for 'step on both edges'
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
[Space/Enter] Toggle/enter[?] Help[/] Search
[Q] Quit (prompts for save)[Esc] Leave menu
11GPIO pins to set at micro-controller startup 保持为空
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (Raspberry Pi RP2040/RP235x) --->
Processor model (rp2040) --->
Bootloader offset (16KiB bootloader) --->
Communication Interface (USB to CAN bus bridge) --->
(4) CAN RX gpio number
(5) CAN TX gpio number
USB ids --->
(1000000) CAN bus speed
[*] Optimize stepper code for 'step on both edges'
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
[Space/Enter] Toggle/enter[?] Help[/] Search
[Q] Quit (prompts for save)[Esc] Leave menu
12GPIO state at micro-controller startup 选择 Not set
此项是 FLYOS-Klipper 功能。通常保持 Not set；如需设置全部 GPIO 的启动状态，请先阅读 GPIO 启动状态使用说明。
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (Raspberry Pi RP2040/RP235x) --->
Processor model (rp2040) --->
Bootloader offset (16KiB bootloader) --->
Communication Interface (USB to CAN bus bridge) --->
(4) CAN RX gpio number
(5) CAN TX gpio number
USB ids --->
(1000000) CAN bus speed
[*] Optimize stepper code for 'step on both edges'
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
[Space/Enter] Toggle/enter[?] Help[/] Search
[Q] Quit (prompts for save)[Esc] Leave menu
13按 Q 键退出配置界面
(Top)
Klipper Firmware Configuration
[*] Enable extra low-level configuration options
Micro-controller Architecture (Raspberry Pi RP2040/RP235x) --->
Processor model (rp2040) --->
Bootloader offset (16KiB bootloader) --->
Communication Interface (USB to CAN bus bridge) --->
(4) CAN RX gpio number
(5) CAN TX gpio number
USB ids --->
(1000000) CAN bus speed
[*] Optimize stepper code for 'step on both edges'
() GPIO pins to set at micro-controller startup
GPIO state at micro-controller startup (Not set) --->
[Space/Enter] Toggle/enter[?] Help[/] Search
[Q] Quit (prompts for save)[Esc] Leave menu
14出现 Save configuration 时按 Y 保存配置
Quit
Save configuration?
(Y)es(N)o(C)ancel
-
After completing the last two steps above, press Q to exit the configuration interface, then press Y to save the configuration.
-
Return to the command line and enter the following command, then press Enter to start compiling:
root@flyos-11e5f8 ~/klipper # make -j4
Compiling out/src/generic/canserial.o
Compiling out/src/generic/usb_canbus.o
Compiling out/src/../lib/fast-hash/fasthash.o
Compiling out/src/rp2040/usbserial.o
Compiling out/src/rp2040/hard_pwm.o
Compiling out/src/rp2040/spi.o
Compiling out/src/rp2040/i2c.o
Preprocessing out/src/rp2040/rpxxxx_link.ld
Building out/compile_time_request.o
Version: XXXX
Linking out/klipper.elf
Creating bin file out/klipper.bin
终端末尾出现 Linking out/klipper.elf 和 Creating bin file out/klipper.bin，即表示编译成功。 实际编译时，部分 Compiling 行和 Version 会随 Klipper 与系统版本变化。
Confirm Whether in Flashing Mode
- Use a Type-C cable to connect the motherboard to the host computer, then double-click the reset button. At this point, the LED on the motherboard will blink.
- If the LED does not blink, please re-flash the Katapult firmware: Flash Katapult Firmware
- If the LED does not blink, please proceed to the next step after flashing the Katapult firmware.
Flash Firmware
Starting the Flashing Process
Obtaining the Mainboard ID
Execute the following command to search for the device ID. Under normal circumstances, an ID similar to the image below should be displayed (Note: Each mainboard has a different ID):
If the searched ID contains usb-katapult_stm32xxxxxxxx, you can proceed to the next step
Flashing the Firmware
- Ensure the firmware file has been compiled
- Replace
<your_mainboard_ID> in the command below with the actual ID obtained in the previous step
- For standard upper computers, use the following code
~/klippy-env/bin/python ~/katapult/scripts/flashtool.py -d <your_mainboard_ID>
- For FLY upper computers, use the following code
python3 ~/katapult/scripts/flashtool.py -d <your_mainboard_ID>
Flashing Process Reference:
Flashing Success Reference:
Firmware Update
USB Firmware Update Steps
- Query the Mainboard ID
/dev/serial/by-id/usb-katapult_rp2040_E662549553642032-if00 in the image below is the mainboard ID
- Update the Firmware
cd ~/klipper/ && make flash FLASH_DEVICE=<your_mainboard_ID>
- Replace
<your_mainboard_ID> with the actual queried ID
Bridge CAN Firmware Update Steps
- Reset to Enter Flash Mode
<your_mainboard_ID> is the CANBUS UUID of the mainboard in the printer.cfg configuration file
- For standard upper computers, use the following code
~/klippy-env/bin/python3 ~/katapult/scripts/flashtool.py -i can0 -r -u <your_mainboard_ID>
- For FLY upper computers, use the following code
python3 ~/katapult/scripts/flashtool.py -i can0 -r -u <your_mainboard_ID>
f95cee90e1f9 in the image below is the mainboard's CANBUS UUID (example only)
- Query the New Device ID
- This is for reference only!
/dev/serial/by-id/usb-Klipper_stm32f072xb_38001B000551324752333720-if00 in the image below is the newly identified mainboard ID
- Flash the New Firmware
cd ~/klipper/ && make flash FLASH_DEVICE=<your_mainboard_ID>
Solutions for Flashing the Wrong Firmware
Method One: Quickly Enter Flash Mode
- Power off the mainboard
- After powering back on, quickly double-click the RESET button
- Re-enter flash mode
Method Two: Re-flash the Katapult Firmware
Click to View Katapult Firmware Flashing Guide
Search for CAN ID After Flashing
After the firmware is flashed and the motherboard is powered on again, please proceed to search for the CAN ID.
View CAN ID Retrieval Method