USB 固件编译

提示

• Micro4出厂已经预刷USB连接的Katapult固件无需自己再刷一次

开始编译

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

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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)

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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 (Raspberry Pi RP2040/RP235x) --->

   Processor model (rp2040) --->

   Bootloader offset (16KiB bootloader) --->

   Communication Interface (USBSERIAL) --->

   USB ids --->

   [*] 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 (USBSERIAL) --->

   USB ids --->

   [*] 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 (USBSERIAL) --->

   USB ids --->

   [*] 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 (USBSERIAL) --->

   USB ids --->

   [*] 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 USBSERIAL

   (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 (USBSERIAL) --->

   USB ids --->

   [*] 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

   6USB 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 (USBSERIAL) --->

   USB ids --->

   [*] 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

   7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 (USBSERIAL) --->

   USB ids --->

   [*] 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

   8GPIO 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 (USBSERIAL) --->

   USB ids --->

   [*] 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

   9GPIO 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 (USBSERIAL) --->

   USB ids --->

   [*] 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 (USBSERIAL) --->

   USB ids --->

   [*] 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

   11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/rp2040/bootrom.o

   Compiling out/src/rp2040/usbserial.o

   Compiling out/src/generic/usb_cdc.o

   Compiling out/src/rp2040/chipid.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。

确认是否进入烧录模式

• 使用Type-C数据线将主板连接至上位机后,双击reset按钮,此时主板上会有LED灯闪烁。

警告

• 如果没有LED灯闪烁,请重新烧录Katapult固件:烧录Katapult固件
• 如果没有LED灯闪烁,请在烧录完Katapult固件后,再执行下一步

烧录固件

开始烧录

• 非Fly官方上位机需要安装Katapult
• 安装Katapult

获取主板ID

执行以下命令搜索设备ID,正常情况应显示类似下图的ID(注意：每张主板的ID都不同):

ls /dev/serial/by-id/*

搜索出来的ID中包含了usb-katapult_stm32xxxxxxxx,则代表可以下一步

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烧录固件

⚠️ 准备工作

• 请确保已编译好固件文件
• 将下方命令中的 <你的主板ID> 替换为上一步查询到的实际ID

• 普通上位机请使用下方代码

  ~/klippy-env/bin/python ~/katapult/scripts/flashtool.py -d <你的主板ID>

• FLY上位机请使用下方代码

  python3 ~/katapult/scripts/flashtool.py -d <你的主板ID>

烧录过程参考:

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烧录成功参考:

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固件更新

• USB固件更新
• 桥接CAN固件更新

USB固件更新步骤

1. 查询主板ID

ls /dev/serial/by-id/*

识别要点

下图中的 /dev/serial/by-id/usb-katapult_rp2040_E662549553642032-if00 即为主板ID

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2. 更新固件

cd ~/klipper/ && make flash FLASH_DEVICE=<你的主板ID>

注意

• 请将 <你的主板ID> 替换为实际查询到的ID

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桥接CAN固件更新步骤

1. 重置进入烧录模式

重要提示

<你的主板ID> 为 printer.cfg 配置文件中主板的 CANBUS UUID

• 普通上位机请使用下方代码

  ~/klippy-env/bin/python3 ~/katapult/scripts/flashtool.py -i can0 -r -u <你的主板ID>

• FLY上位机请使用下方代码

  python3 ~/katapult/scripts/flashtool.py -i can0 -r -u <你的主板ID>

示例说明

下图中的 f95cee90e1f9 为主板的 CANBUS UUID(仅作示例)

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2. 查询新的设备ID

ls /dev/serial/by-id/*

识别要点

• 这只是参考！
• 下图中的 /dev/serial/by-id/usb-Klipper_stm32f072xb_38001B000551324752333720-if00 即为新识别的主板ID

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3. 烧录新固件

cd ~/klipper/ && make flash FLASH_DEVICE=<你的主板ID>

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刷错固件的解决方法

方法一：快速进入烧录模式

1. 主板断电
2. 重新上电后,快速双击RESET按钮
3. 重新进入烧录模式

方法二：重新烧录Katapult固件

点击查看Katapult固件烧录指南

烧录后搜索 USB ID

固件烧录完成并给主板重新上电后，请继续搜索 USB ID。

查看 USB ID 获取方法