Updating the MCU and the Printhead

[Galloant]

1 - Compiling Katapult (Canboot) bootloaders

Clone the Github repository:

cd ~
git clone https://github.com/Arksine/katapult

Install Python 3 along its serial port extension:

sudo apt install python3 python3-pip python3-can
pip3 install pyserial

Create a dir for the compiled binaries:

mkdir ~/binaries

Get bootloader for the MCU

cd ~/katapult
make clean
make menuconfig

Press Q to exit and Y so save the configuration.

Compile and move the file to a different dir:

make
mv ~/katapult/out/katapult.bin ~/binaries/katapult_skipr.bin

2 - Compiling Klipper firmwares

If you don't have all the enviroment already setup by KIAUH, you must clone Klipper repository:

cd ~
git clone https://github.com/Klipper3d/klipper

cd ~/klipper
make clean
make menuconfig

Press Q to exit and Y so save the configuration.

Compile and move the file to a different dir:

make
mv ~/klipper/out/klipper.bin ~/binaries/klipper_skipr.bin

3 - Flashing CanBoot bootloader and Klipper firmware on ZNP GIGA MCU

On the board near the Ethernet plug, there are two buttons labeled RESET and H-RST. H-RST will reset the SBC so be careful to not press that. The place of the BOOT0 button is left empty but we are able to bridge it with a paperclip or similar. Just be careful to not touch any capacitor or the Ethernet shield nearby or the SBC will get blocked. If that's the case, you need to restart the process again.

Put ZNP GIGA STM32F407 MCU in DFU mode, press/bridge both RESET and BOOT0, release RESET and next stop bridging BOOT0.

Check if it's properly connected by issuing lsusb command, the output must list the MCU in DFU mode:

Bus 001 Device 003: ID 0483:df11 STMicroelectronics STM Device in DFU Mode

Flash CanBoot bootloader:

sudo dfu-util -a 0 -D ~/binaries/katapult_skipr.bin --dfuse-address 0x08000000:force:mass-erase -d 0483:df11

While still in DFU mode, flash Klipper firmware:

sudo dfu-util -a 0 -D ~/binaries/klipper_skipr.bin --dfuse-address 0x08008000:force:leave -d 0483:df11

0483:df11 is an example and needs to be replaced with the actual ID on your system.

5 - Setup a CAN0 interface

sudo nano /etc/network/interfaces.d/can0

Copy and paste this configuration:

allow-hotplug can0
iface can0 can static
    bitrate 1000000
    up ip link set $IFACE txqueuelen 128

Press CTRL+X to exit, Y to confirm and ENTER to save. Reboot your system with sudo reboot now.

After reboot, check if CAN0 state is up and running:

ip -details -statistics link show can0

6 - Get your MCUs UUIDs

Make sure your MCUs UUIDs are not listed in any printer configuration file, or you won't be able to retrieve any node UUID.

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

The output must list all nodes (ZNP GIGA STM32F407 and printhead with the original Klipper version if still connected):

Found canbus_uuid=06727e55c686, Application: Klipper
Found canbus_uuid=4c61f6fc8b08, Application: Klipper
Total 2 uuids found

7 - Add the MCUs to you printer.cfg

[mcu]
canbus_uuid: <uuid>

8 - Compiling bootloader and firmware for the printhead

cd ~/katapult
make clean
make menuconfig

Choose the RP2040 chip
Change the Communication interface to CAN
Change the RX pin to 8
Change the TX pin to 9

Press Q to exit and Y so save the configuration.

make

The bootloader is made.
If you get a failure when executing anything in katapult, just delete the folder and download it again.

cd ~/klipper
make clean
make menuconfig

Enter the same settings as for the bootloader.
Press Q to exit and Y so save the configuration.

make

9 - Updating the printhead bootloader

Disconnect the printhead from the CAN and power plug and get it off it's mount if you haven't already. You need to be able to get to the USB/UART through holes and to the bootsel button.
You will also need a USB to single pin cable to be able to connect.

The board doesn't need to be disconnected from everything. This is just to more easily show the through holes. (And don't mind my dirty finger nails...I had a rough day)

The USB cables have generally four leads, red, black, green and white. They need to be connected to the board as follows:
-> Red <-> 5V
-> Black <-> GND
-> Green <-> D+
-> White <-> D-

Connect the board to one of the USB-A ports on the SBC while holding down the bootsel (or boot) button and check with lsusb if you see a device called something like Raspberry Pi Boot. If you don't see any device with that name, check all the leads, check if the USB port you chose is actually working and make sur you put the board into bootloader mode.

Stop Klipper service

sudo service klipper stop

or

sudo systemctl stop klipper

cd ~/katapult
make flash

You should get an output like this:

Flashing out/katapult.uf2
Loaded UF2 image with 21 pages
Found rp2040 device on USB bus 1 address 35
Flashing...
Resetting interface
Locking
Exiting XIP mode
Erasing
Flashing
Rebooting device

After it has finished, remove the leads for the USB connection and plug the printhead into the power supply and CAN interface cable.

Check if you can see the printhead on the CAN bus with:

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

The output should look something like this:

Found canbus_uuid=4c61f6fc8b08, Application: CanBoot
Total 1 uuids found

Don't get nervose if you only see one uuid. That is normal. The script checks for free CAN bus participants and the STM32 is not free anymore as it's tied-in with Klipper

Copy the uuid and flash Klipper with following command:

~/klippy-env/bin/python3 ~/katapult/scripts/flash_can.py -i can0 -f ~/katapult/out/klipper.bin -u <uuid>

And start Klipper again

sudo service klipper start

or

sudo systemctl start klipper

10 - Add the MCU1 to you printer.cfg

[mcu1]
canbus_uuid: <uuid>

11 - Updating firmware thru CAN interface !!Not tested on ZNP GIGA!!

To be able to query all the CAN UUIDs, you have to put the printer in emergency mode by issuing a M112 command, clicking in FIRMWARE RESTART and stopping Klipper service within the menus. Doing it manually is bothersome and prone to errors, but you can do it all at once in the terminal pasting all the commands below:

echo M112 > ~/printer_data/comms/klippy.serial 
sleep 1
echo FIRMWARE_RESTART > ~/printer_data/comms/klippy.serial
sleep 1
systemctl stop klipper

Query your CAN UUIDs with cd ~/katapult/scripts && python3 flash_can.py -i can0 -q:

Resetting all bootloader node IDs...
Checking for Katapult nodes...
Detected UUID: 06727e55c686, Application: Klipper
Detected UUID: 4c61f6fc8b08, Application: Klipper
Query Complete

Now you can flash your device firmware replacing the UUID and PATH:

python3 flash_can.py -i can0 -u UUID -f PATH

This description is in part curtesy of fbeltrao-br and taken from https://github.com/fbeltrao-br/canboot-skipr-ebb36/blob/main/README.md
and in part curtesy of Dr. Klipper Wiki taken from https://drklipper.de/doku.php?id=klipper_faq:can:66_-_katapult-bootloader