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USB桥接CAN固件编译与烧录

使用前确认​

CANHAT 已停产
  • Gemini V2 没有板载 CAN 收发芯片,需要搭配 CANHAT 才能使用 USB 桥接 CAN。
  • CANHAT 已经停产。若手上没有 CANHAT 模块,请不要按本页配置 CAN 桥接。
  • 使用 CAN 工具板时,请确认上位机 can0 速率、Gemini V2 桥接固件速率、CAN 工具板固件速率一致。

安装 CANHAT 并检查拨码​

断电操作

开始前请完全关闭打印机并断开电源供应。不要在通电状态下插拔线束、整理接口线序或触碰端子。

  • CANHAT 的红色排针对应 Gemini V2 的红色排母,黑色排针对应黑色排母。方向错误可能损坏设备。
  • 安装 CANHAT 后,打开拨码 1、2、5、6,其余拨码保持关闭。
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CAN 接线​

断电操作

开始前请完全关闭打印机并断开电源供应。不要在通电状态下插拔线束、整理接口线序或触碰端子。

  • CANHAT 连接 CAN 工具板时,请按工具板文档核对 CANH、CANL、电源正负极。
  • CAN 总线两端需要按实际设备要求设置终端电阻。
  • 若需要刷写 CAN 工具板固件,请查看对应工具板产品文档。
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SSH 连接到上位机​

注意
  • 固件编译前需要先连接 Gemini V2 上位机 SSH。
  • 建议通过 WiFi 或网线连接 SSH 后再编译固件。
  • 首先请:连接 Gemini V2 上位机 SSH

编译 USB 桥接 CAN 固件​

固件编译简明指南​

注意事项​

  • 网络: 确保上位机(树莓派等)已联网
  • 登录方式: 必须使用 SSH 通过网络登录，禁用串口
  • 输入法: 保持键盘为英文半角模式

SSH登录与用户切换​

使用 MobaXterm、PuTTY 等工具 SSH 登录上位机。

切换用户：​

  • 普通系统(树莓派官方系统等)
    禁止使用 root,需切换到普通用户： 
    su <用户名>
  • FLY上位机(FlyOS-FAST系统)
    仅支持 root 用户登录(密码： mellow)

固件编译操作指南​

在 Klipper 固件配置界面中仅支持键盘操作,无法使用鼠标。

按键功能
↑ / ↓上下移动光标，选择菜单项
Enter / 空格确认选择、勾选选项或进入子菜单
ESC返回上一级菜单
Q退出配置界面
Y退出时，如有提示则按 Y 保存配置

开始固件编译​

下面介绍如何编译固件：

  1. 连接到 SSH，输入下面的命令并按 Enter：

    cd ~/klipper && rm -rf ~/klipper/.config && rm -rf ~/klipper/out && make menuconfig

    其中，rm -rf ~/klipper/.config && rm -rf ~/klipper/out 用于清除之前的编译配置与固件； make menuconfig 用于打开 Klipper 固件配置界面。

  2. 按照下方顺序逐项设置，每完成一项再继续下一项。

    1启用 Enable extra low-level configuration options
    (Top)
    Klipper Firmware Configuration
    [*] Enable extra low-level configuration options
    Micro-controller Architecture (STMicroelectronics STM32) --->
    Processor model (STM32F405) --->
    Bootloader offset (32KiB bootloader) --->
    Clock Reference (8 MHz crystal) --->
    Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
    CAN bus interface (CAN bus (on PB8/PB9)) --->
    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) --->
    2Micro-controller Architecture 选择 STMicroelectronics STM32
    (Top)
    Klipper Firmware Configuration
    [*] Enable extra low-level configuration options
    Micro-controller Architecture (STMicroelectronics STM32) --->
    Processor model (STM32F405) --->
    Bootloader offset (32KiB bootloader) --->
    Clock Reference (8 MHz crystal) --->
    Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
    CAN bus interface (CAN bus (on PB8/PB9)) --->
    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) --->
    3Processor model 选择 STM32F405
    (Top)
    Klipper Firmware Configuration
    [*] Enable extra low-level configuration options
    Micro-controller Architecture (STMicroelectronics STM32) --->
    Processor model (STM32F405) --->
    Bootloader offset (32KiB bootloader) --->
    Clock Reference (8 MHz crystal) --->
    Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
    CAN bus interface (CAN bus (on PB8/PB9)) --->
    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) --->
    4Bootloader offset 选择 32KiB bootloader
    (Top)
    Klipper Firmware Configuration
    [*] Enable extra low-level configuration options
    Micro-controller Architecture (STMicroelectronics STM32) --->
    Processor model (STM32F405) --->
    Bootloader offset (32KiB bootloader) --->
    Clock Reference (8 MHz crystal) --->
    Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
    CAN bus interface (CAN bus (on PB8/PB9)) --->
    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) --->
    5Clock Reference 选择 8 MHz crystal
    (Top)
    Klipper Firmware Configuration
    [*] Enable extra low-level configuration options
    Micro-controller Architecture (STMicroelectronics STM32) --->
    Processor model (STM32F405) --->
    Bootloader offset (32KiB bootloader) --->
    Clock Reference (8 MHz crystal) --->
    Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
    CAN bus interface (CAN bus (on PB8/PB9)) --->
    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) --->
    6Communication interface 选择 USB to CAN bus bridge (USB on PA11/PA12)
    (Top)
    Klipper Firmware Configuration
    [*] Enable extra low-level configuration options
    Micro-controller Architecture (STMicroelectronics STM32) --->
    Processor model (STM32F405) --->
    Bootloader offset (32KiB bootloader) --->
    Clock Reference (8 MHz crystal) --->
    Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
    CAN bus interface (CAN bus (on PB8/PB9)) --->
    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) --->
    7CAN bus interface 选择 CAN bus (on PB8/PB9)
    (Top)
    Klipper Firmware Configuration
    [*] Enable extra low-level configuration options
    Micro-controller Architecture (STMicroelectronics STM32) --->
    Processor model (STM32F405) --->
    Bootloader offset (32KiB bootloader) --->
    Clock Reference (8 MHz crystal) --->
    Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
    CAN bus interface (CAN bus (on PB8/PB9)) --->
    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) --->
    8USB ids 保持默认，无需进入
    (Top)
    Klipper Firmware Configuration
    [*] Enable extra low-level configuration options
    Micro-controller Architecture (STMicroelectronics STM32) --->
    Processor model (STM32F405) --->
    Bootloader offset (32KiB bootloader) --->
    Clock Reference (8 MHz crystal) --->
    Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
    CAN bus interface (CAN bus (on PB8/PB9)) --->
    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) --->
    9CAN bus speed 设置为 1000000
    (Top)
    Klipper Firmware Configuration
    [*] Enable extra low-level configuration options
    Micro-controller Architecture (STMicroelectronics STM32) --->
    Processor model (STM32F405) --->
    Bootloader offset (32KiB bootloader) --->
    Clock Reference (8 MHz crystal) --->
    Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
    CAN bus interface (CAN bus (on PB8/PB9)) --->
    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) --->
    10启用 Optimize stepper code for 'step on both edges'
    (Top)
    Klipper Firmware Configuration
    [*] Enable extra low-level configuration options
    Micro-controller Architecture (STMicroelectronics STM32) --->
    Processor model (STM32F405) --->
    Bootloader offset (32KiB bootloader) --->
    Clock Reference (8 MHz crystal) --->
    Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
    CAN bus interface (CAN bus (on PB8/PB9)) --->
    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) --->
    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 (STMicroelectronics STM32) --->
    Processor model (STM32F405) --->
    Bootloader offset (32KiB bootloader) --->
    Clock Reference (8 MHz crystal) --->
    Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
    CAN bus interface (CAN bus (on PB8/PB9)) --->
    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) --->
    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 (STMicroelectronics STM32) --->
    Processor model (STM32F405) --->
    Bootloader offset (32KiB bootloader) --->
    Clock Reference (8 MHz crystal) --->
    Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
    CAN bus interface (CAN bus (on PB8/PB9)) --->
    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) --->
    13按 Q 键退出配置界面
    (Top)
    Klipper Firmware Configuration
    [*] Enable extra low-level configuration options
    Micro-controller Architecture (STMicroelectronics STM32) --->
    Processor model (STM32F405) --->
    Bootloader offset (32KiB bootloader) --->
    Clock Reference (8 MHz crystal) --->
    Communication interface (USB to CAN bus bridge (USB on PA11/PA12)) --->
    CAN bus interface (CAN bus (on PB8/PB9)) --->
    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) --->
    14出现 Save configuration 时按 Y 保存配置
    Quit
    Save configuration?
    (Y)es(N)o(C)ancel

  3. 完成上方最后两个步骤，按 Q 退出配置界面，再按 Y 保存配置。

  4. 返回命令行后输入下面的命令并按 Enter 开始编译：

    make -j4
    root@flyos-11e5f8 ~/klipper # make -j4
    Compiling out/src/generic/canserial.o
    Compiling out/src/../lib/fast-hash/fasthash.o
    Compiling out/src/stm32/can.o
    Compiling out/src/stm32/chipid.o
    Compiling out/src/generic/usb_canbus.o
    Compiling out/src/stm32/hard_pwm.o
    Compiling out/src/stm32/sdio.o
    Preprocessing out/src/generic/armcm_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。

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TF 卡烧录固件​

断电操作

开始前请完全关闭打印机并断开电源供应。不要在通电状态下插拔线束、整理接口线序或触碰端子。

烧录说明
  • Gemini V2 下位机固件使用 TF 卡烧录。
  • 编译完成后,将 klipper.bin 下载到 TF 卡并重命名为 firmware.bin。
  • 上电烧录完成后,TF 卡中 firmware.bin 消失并出现 FLY.CUR 即代表烧录成功。

准备工作​

  • 开始烧录固件前，请先使用网络连接SSH
  • 杂牌内存卡可能导致烧录失败，请尽量使用下方推荐的内存卡进行更新固件
  • 需要准备一张容量不超过32G的TF卡，并且建议TF卡的传输速度必须为class10级或class10级以上，建议使用闪迪等品牌的TF卡

下载固件​

  1. 使用之前准备好的TF卡

  2. 使用SDFormatter格式化

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  3. 使用MobaXterm_Personal左边文件目录找到klipper选择然后找到out打开

    注意
    • 普通系统注意事项
      • 树莓派、FLY派等普通上位机系统都看此类
      • 编译完成的固件在/home/<您的上位机用户名>/klipper/out/目录下
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  4. 并且将klipper.bin下载到TF卡里面，并且重命名为firmware.bin

    firmware.bin
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Windows 文件后缀显示

Windows 默认可能隐藏文件扩展名，容易把文件实际保存成 firmware.bin.txt 或 firmware.bin.bin。重命名固件前请在文件资源管理器中打开后缀显示：

  1. 打开任意文件夹。
  2. 点击顶部 查看。
  3. 勾选 文件扩展名。
  4. 重命名文件时确认完整文件名为 firmware.bin。
  1. 主板断电，将TF卡插入主板
  2. 给主板上电，等待10秒
  3. 取下TF卡，插入电脑，如果SD卡中的firmware.bin消失，出现FLY.CUR就是烧录成功了
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烧录后搜索 CAN UUID​

固件烧录完成并给 Gemini V2 重新上电后,请先不要连接 CAN 工具板,优先搜索 Gemini V2 主板自身的 CAN UUID。确认主板 UUID 后,再连接并刷写对应 CAN 工具板固件。

查看 CANBus UUID 获取方法

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