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USB桥接CAN固件烧录

SSH连接到上位机​

警告
  • 固件编译前需要使用wifi连接到上位机SSH
  • 首先请：使用wifi连接到上位机ssh

说明

Gemini V3 已板载 CAN 收发芯片,使用 CAN 工具板时烧录 USB 桥接 CAN 固件即可,不需要额外外接 CAN 模块。

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。

固件烧录​

提示

执行下面的命令来烧录固件

fly-flash -d auto -h -f /data/klipper/out/klipper.bin
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HID 烧录失败提示​

若出现下图所示的提示，请按以下步骤排查：

  1. 确认拨码开关位置是否正确
  2. 若拨码正确仍烧录失败，请参考 BL 固件烧录
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搜索CAN ID​

  1. 打开浏览器，在网址栏中输入上位机的IP地址，比如我上位机IP是192.168.101.179直接输入然后回车即可
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  1. 打开上位机的WEB界面，在左侧边栏的配置选项里找到：
  • fluidd为： {…} ,点击进去，即可找到 printer.cfg
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  • mainsail为:机器,点击进去，即可找到 printer.cfg
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3.点击printer.cfg 进去后，再点击右上方的DEVICES

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4.点击CAN ,然后刷新

  • fluidd的刷新
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  • mainsail的刷新
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5.复制ID,点击箭头所指即可复制

  • fluidd需要确定第一个箭头所指的是否是Klipper,如果是即可点击右边箭头所指的复制
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  • mainsail需要确定第一个箭头所指的是否是Klipper,如果是即可点击右边箭头所指的复制
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填写CAN ID​

  1. 关闭DEVICES填写ID
须知
  • 请将配置文件中的：
[mcu] 
serial: /tmp/klipper_host_mcu

修改为

[mcu host] 
serial: /tmp/klipper_host_mcu
  • 添加：
[mcu]
canbus_uuid: <这里替换为你刚刚查询到的ID>
  • fluidd中找到[MCU]
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  • mainsail中找到[MCU]
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  1. 将ID填写到配置中
提示
  • 填写好ID后点击右上方的SAVE & RESTART
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  1. 若Klipper提示 ADC out of range 此为正常现象，将热床和热敏连接到主板，并配置好喷头、热床的热敏引脚，再保存重启即可。
危险

注意：文档中所出现的所有ID均为示例，实际每个主板的ID均不相同，请填写实际获取到的ID.

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