072版本CAN固件编译

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 (STMicroelectronics STM32) --->

   Processor model (STM32F072) --->

   Bootloader offset (8KiB bootloader) --->

   Clock Reference (8 MHz crystal) --->

   Communication interface (CAN bus (on PB8/PB9)) --->

   (1000000) CAN bus speed

   [*] Optimize stepper code for 'step on both edges'

   (!PC13) 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 STMicroelectronics STM32

   (Top)

   Klipper Firmware Configuration

   [*] Enable extra low-level configuration options

   Micro-controller Architecture (STMicroelectronics STM32) --->

   Processor model (STM32F072) --->

   Bootloader offset (8KiB bootloader) --->

   Clock Reference (8 MHz crystal) --->

   Communication interface (CAN bus (on PB8/PB9)) --->

   (1000000) CAN bus speed

   [*] Optimize stepper code for 'step on both edges'

   (!PC13) 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 STM32F072

   (Top)

   Klipper Firmware Configuration

   [*] Enable extra low-level configuration options

   Micro-controller Architecture (STMicroelectronics STM32) --->

   Processor model (STM32F072) --->

   Bootloader offset (8KiB bootloader) --->

   Clock Reference (8 MHz crystal) --->

   Communication interface (CAN bus (on PB8/PB9)) --->

   (1000000) CAN bus speed

   [*] Optimize stepper code for 'step on both edges'

   (!PC13) 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 8KiB bootloader

   (Top)

   Klipper Firmware Configuration

   [*] Enable extra low-level configuration options

   Micro-controller Architecture (STMicroelectronics STM32) --->

   Processor model (STM32F072) --->

   Bootloader offset (8KiB bootloader) --->

   Clock Reference (8 MHz crystal) --->

   Communication interface (CAN bus (on PB8/PB9)) --->

   (1000000) CAN bus speed

   [*] Optimize stepper code for 'step on both edges'

   (!PC13) 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

   5Clock Reference 选择 8 MHz crystal

   (Top)

   Klipper Firmware Configuration

   [*] Enable extra low-level configuration options

   Micro-controller Architecture (STMicroelectronics STM32) --->

   Processor model (STM32F072) --->

   Bootloader offset (8KiB bootloader) --->

   Clock Reference (8 MHz crystal) --->

   Communication interface (CAN bus (on PB8/PB9)) --->

   (1000000) CAN bus speed

   [*] Optimize stepper code for 'step on both edges'

   (!PC13) 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

   6Communication 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 (STM32F072) --->

   Bootloader offset (8KiB bootloader) --->

   Clock Reference (8 MHz crystal) --->

   Communication interface (CAN bus (on PB8/PB9)) --->

   (1000000) CAN bus speed

   [*] Optimize stepper code for 'step on both edges'

   (!PC13) 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 bus speed 设置为 1000000

   (Top)

   Klipper Firmware Configuration

   [*] Enable extra low-level configuration options

   Micro-controller Architecture (STMicroelectronics STM32) --->

   Processor model (STM32F072) --->

   Bootloader offset (8KiB bootloader) --->

   Clock Reference (8 MHz crystal) --->

   Communication interface (CAN bus (on PB8/PB9)) --->

   (1000000) CAN bus speed

   [*] Optimize stepper code for 'step on both edges'

   (!PC13) 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

   8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 (STM32F072) --->

   Bootloader offset (8KiB bootloader) --->

   Clock Reference (8 MHz crystal) --->

   Communication interface (CAN bus (on PB8/PB9)) --->

   (1000000) CAN bus speed

   [*] Optimize stepper code for 'step on both edges'

   (!PC13) 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 pins to set at micro-controller startup 设置为 !PC13

   (Top)

   Klipper Firmware Configuration

   [*] Enable extra low-level configuration options

   Micro-controller Architecture (STMicroelectronics STM32) --->

   Processor model (STM32F072) --->

   Bootloader offset (8KiB bootloader) --->

   Clock Reference (8 MHz crystal) --->

   Communication interface (CAN bus (on PB8/PB9)) --->

   (1000000) CAN bus speed

   [*] Optimize stepper code for 'step on both edges'

   (!PC13) 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

   10GPIO 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 (STM32F072) --->

   Bootloader offset (8KiB bootloader) --->

   Clock Reference (8 MHz crystal) --->

   Communication interface (CAN bus (on PB8/PB9)) --->

   (1000000) CAN bus speed

   [*] Optimize stepper code for 'step on both edges'

   (!PC13) 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 (STM32F072) --->

   Bootloader offset (8KiB bootloader) --->

   Clock Reference (8 MHz crystal) --->

   Communication interface (CAN bus (on PB8/PB9)) --->

   (1000000) CAN bus speed

   [*] Optimize stepper code for 'step on both edges'

   (!PC13) 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

   12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/stm32/stm32f0_i2c.o

   Compiling out/src/generic/canserial.o

   Compiling out/src/../lib/fast-hash/fasthash.o

   Compiling out/src/stm32/can.o

   Compiling out/src/generic/canbus.o

   Compiling out/src/stm32/chipid.o

   Compiling out/src/stm32/hard_pwm.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。

接线

• 烧录固件前使用XT30数据线将工具板连接到UTOC或者刷了桥接固件的主板,下方是参考接线图
• 请注意拨码是否拨到对应地方
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• 请确保CAN H与CAN L在断电情况下使用万用表测量阻值在60Ω左右,如果是120Ω则需要接上120Ω跳线,如果是40Ω左右需要将跳线移除
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搜索ID并烧录

查询CANBus UUID

操作前须知

• 建议在非打印状态下执行ID查询和固件刷写操作，避免干扰打印过程。
• 同一主板/工具板的Katapult(CANBoot)固件与Klipper固件使用相同的CAN ID。

前提条件

请确保满足以下条件，否则可能无法正常搜索到CAN ID:

1. 上位机CAN网络已正确配置
2. 工具板CAN速率与上位机完全一致(速率不一致将无法通信)
3. 执行 lsusb 命令后能看到 1d50:606f 设备(USB-CAN适配器)

搜索命令(根据系统选择)

• 普通上位机搜索指令

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

• FLY上位机搜索指令

  python3 ~/klipper/scripts/canbus_query.py can0

搜索结果说明

情况一：已刷Klipper固件的主板/工具板

• 显示效果:显示一个CAN ID,并提示 Application: Klipper
• 说明:设备已运行Klipper固件，可以直接使用。此ID可能是主板ID也有可能是工具板ID.
• 区分方法:断开工具板的CAN连接线后重新搜索。如果该ID消失，则属于工具板；如果该ID仍在，则属于主板。

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情况二：主板 + 待烧录工具板

• 显示效果:显示两个CAN ID
• 说明:主板运行Klipper固件，工具板运行CanBoot固件，等待烧录。

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情况三:UTOC + 待烧录工具板

• 显示效果:UTOC本身不显示ID,只显示工具板的ID
• 说明:UTOC仅作为桥接器，需确保工具板处于CanBoot模式。

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情况四：无ID显示

• 显示效果:无任何ID显示
• 可能原因:
  1. CAN总线被Klipper占用
  2. 上位机CAN0速率配置错误
  3. 物理接线异常
  4. 设备未进入CanBoot模式

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重要提示

• 待烧录状态:工具板处于CanBoot模式时会显示 Application: CanBoot 且固件灯闪烁，此时可进行固件烧录。
• ID占用处理:如果设备已运行Klipper固件且ID已填入配置文件,ID将不会显示(被Klipper占用)。如需重新显示，需在配置中屏蔽该ID并彻底断电重启。

故障排查

如果无法查询到UUID,请参考： CAN问题排查指南

固件烧录

烧录命令

1. 将下方命令中的 241696050c56 替换为您实际查询到的UUID
2. 注意:-u 参数后需有空格

版本说明

• FlyOS-FAST 1.3.8 及以上版本 或 2026年4月9日后更新过Klipper的系统，请使用新指令：

  python3 ~/klipper/lib/katapult/flashtool.py -u 241696050c56

• 旧版本系统（FAST 1.3.8之前 或 2026年4月9日前未更新Klipper），请使用旧指令：

  python3 ~/klipper/lib/canboot/flash_can.py -u 241696050c56

烧录成功确认

出现 CAN Flash Success 提示即表示烧录成功：

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固件更新

更新方法

当需要更新固件时，只需：

1. 重新编译固件
2. 确保能查询到设备CAN ID(或Klipper已连接设备)
3. 执行相同的烧录命令

版本说明

• FlyOS-FAST 1.3.8 及以上版本 或 2026年4月9日后更新过Klipper的系统：

  python3 ~/klipper/lib/katapult/flashtool.py -u <MCU ID>

• 旧版本系统（FAST 1.3.8之前 或 2026年4月9日前未更新Klipper）：

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

更新成功示例

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确认固件是否启动

• 如果固件正常启动LED会亮起来
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重置进烧录的方法

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