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Steps to Flash SKR Pico ( RP2040 ) with Canboot

Canbus over CAN

Canbus over USB to can bridge

Canbus over USB

Canbus over Serial UART

This guide assumes you alreay have a SKR Pico working on CAN bus. See the Rootiest SKR Pico Canbus guide for more information.

Install CanBoot if you haven't already

  • Run the following from your klipper host to copy the canboot github files
cd ~/
git clone https://github.com/Arksine/CanBoot
  • Add Canboot to the moonraker update manager by adding the following lines to your moonraker.cof file.
[update_manager CanBoot]
type: git_repo
path: ~/CanBoot
origin: https://github.com/Arksine/CanBoot.git
is_system_service: False

Canboot for SKR Pico as a CAN device

  • Update to the latest Canboot and Klipper codabase as of 11-8-2022

    • Canboot v0.0.1-20-g600967e or newer
    • Klipper v0.10.0-623-g5b1a6676 or newer

  • SSH to your Klipper host

  • CD to Canboot

    cd ~/CanBoot/

  • Run Make Clean

    make clean

  • Run Make Menuconfig

    make menuconfig

  • Settings

    • MCU Raspberry Pi RP2040
    • Build CanBoot deployment 16Kib Bootloader
    • Com interface CAN bus
    • CAN RX GPIO 1
    • CAN Tx GPIO 0
    • CAN bus speed 500000 <-- Chose your own adventure ( 250000,500000,1000000 )

Canboot on CAN

  • Run make

    make -j 4

  • Connect the Pico by USB to the Klipper Host

  • Install boot jumper on the SKR Pico and press the reset button

  • Flash the Pico firmware

    sudo make flash FLASH_DEVICE=2e8a:0003

  • This will flash the firmware image we compiled earlier onto the SKR-Pico.

  • Remove the USB cable, Reboot and continue to the next phase..

Flashing Klpper via canboot over CAN

  • SSH into the Klipper host and CD to klipper

    cd ~/klipper/

  • Run Make Clean

    make clean

  • Run Make Menuconfig

    make menuconfig

  • Settings

    • MCU Raspberry Pi RP2040
    • bootloader offset 16Kib Bootloader
    • Com interface CAN bus
    • CAN RX GPIO 1
    • CAN Tx GPIO 0
    • CAN bus speed 500000 <-- Chose your own adventure ( 250000,500000,1000000 )

KLipper on CAN with canbooot offset

  • Run make

    make -j 4

  • Connect the SKR Pico to the CAN bus.

  • Get your UUID

    python3 ~/CanBoot/scripts/flash_can.py -q

  • Flash the klipper.bin file to the SKR Pico

python3 ~/CanBoot/scripts/flash_can.py -i can0 -f ~/klipper/out/klipper.bin -u {your uuid}

Canboot for SKR Pico in USB to can bridge mode

  • Update to the latest Canboot and Klipper codabase as of 11-8-2022

    • Canboot v0.0.1-20-g600967e or newer
    • Klipper v0.10.0-623-g5b1a6676 or newer

  • SSH to your Klipper host

  • CD to Canboot

    cd ~/CanBoot/

  • Run Make Clean

    make clean

  • Run Make Menuconfig

    make menuconfig

  • Settings

    • MCU Raspberry Pi RP2040
    • Build CanBoot deployment 16Kib Bootloader
    • Com interface USB

Canboot in USB mode

  • Run make

    make -j 4

  • Connect the Pico by USB to the Klipper Host

  • Install boot jumper on the SKR Pico and press the reset button

  • Flash the SKR Pico firmware

    sudo make flash FLASH_DEVICE=2e8a:0003

  • This will flash the firmware image we compiled earlier onto the SKR-Pico.

    • This take a minute or so.

  • When the /mnt unmounts remove the boot jumper.

  • Reboot and continue to the next phase..

Flashing Klpper via USB the first time

  • SSH into the Klipper host and CD to klipper

    cd ~/klipper/

  • Run Make Clean

    make clean

  • Run Make Menuconfig

    make menuconfig

  • Settings

    • MCU Raspberry Pi RP2040
    • bootloader offset 16Kib Bootloader
    • Com interface USB to CAN bus
    • CAN RX GPIO 1
    • CAN Tx GPIO 0
    • CAN bus speed 500000 <-- Chose your own adventure ( 250000,500000,1000000 )

Klipper USB to CAN

  • Run make
make -j 4

  • Get your serial ID

    ls /dev/serial/by-id

  • Flash the klipper.bin file to the SKR Pico

python3 ~/CanBoot/scripts/flash_can.py -f ~/klipper/out/klipper.bin -d /dev/serial/by-id/{your serial id}
  • Reboot and your Pico should come bacup up in USB to canbridge mode.

Flashing after Canboot is installed ( this is only for KLipper in USB to can birdge mode )

  • Run the canboot flash by UUID to enable CanBoot on USB firmware.

    python3 ~/CanBoot/scripts/flash_can.py -i can0 -f ~/klipper/out/klipper.bin -u { your uuid}

  • Canboot will throw an error but will now appear as a USB device, Get the Canboot serial ID

    ls /dev/serial/by-id

  • Build klipper as before ( see above )

  • Flash your new klipper bin via Canbus by serial ID

python3 ~/CanBoot/scripts/flash_can.py -f ~/klipper/out/klipper.bin -d /dev/serial/by-id/{your serial id}
  • Reboot

Canboot for SKR Pico in USB mode

  • Update to the latest Canboot and Klipper codabase as of 11-8-2022

    • Canboot v0.0.1-20-g600967e or newer
    • Klipper v0.10.0-623-g5b1a6676 or newer

  • SSH to your Klipper host

  • CD to Canboot

    cd ~/CanBoot/

  • Run Make Clean

    make clean

  • Run Make Menuconfig

    make menuconfig

  • Settings

    • MCU Raspberry Pi RP2040
    • Build CanBoot deployment 16Kib Bootloader
    • Com interface USB

Canboot in USB mode

  • Run make

    make -j 4

  • Connect the Pico by USB to the Klipper Host

  • Install boot jumper on the SKR Pico and press the reset button

  • Flash the Pico firmware

    sudo make flash FLASH_DEVICE=2e8a:0003

  • This will flash the firmware image we compiled earlier onto the SKR-Pico.

  • Remove the boot jumper.

  • Reboot and continue to the next phase..

Flashing Klpper via USB the first time

  • SSH into the Klipper host and CD to klipper

    cd ~/klipper/

  • Run Make Clean

    make clean

  • Run Make Menuconfig

    make menuconfig

  • Settings

    • MCU Raspberry Pi RP2040
    • bootloader offset 16Kib Bootloader
    • Com interface USB

Klipper USB to CAN

  • Run make
make -j 4

  • Get your serial ID

    ls /dev/serial/by-id

  • Flash the klipper.bin file to the SKR Pico

python3 ~/CanBoot/scripts/flash_can.py -f ~/klipper/out/klipper.bin -d /dev/serial/by-id/{your serial id}
  • Reboot and your Pico should come back up in USB to canbridge mode.

Flashing again after Canboot and klipper have been installed

  • Run the Klipper Flash_USB script to load the CanBoot bootloader. This flash will fail but it gets the SKR Pico into the loader.

    python3 ~/klipper/scripts/flash_usb.py -t rp2040 -d /dev/serial/by-id/{your serial id} ~/klipper/out/klipper.bin

  • Run ls /dev/serial/by-id and verify the Canboot bootloader is running.

    ls /dev/serial/by-id

  • Note the new CanBus ID lsited. It should appear something like this example.

    usb-CanBoot_rp2040_45503571279020E8-if00

  • Run the CanBoot flash_can script with your serial ID to flash your new klipper firmware.

python3 ~/CanBoot/scripts/flash_can.py -f ~/klipper/out/klipper.bin -d /dev/serial/by-id/{your serial id}
  • Reboot

Canboot for SKR Pico in UART mode

  • Update to the latest Canboot and Klipper codabase as of 11-8-2022

    • Canboot v0.0.1-20-g600967e or newer
    • Klipper v0.10.0-623-g5b1a6676 or newer

  • SSH to your Klipper host

  • CD to Canboot

    cd ~/CanBoot/

  • Run Make Clean

    make clean

  • Run Make Menuconfig

    make menuconfig

  • Settings

    • MCU Raspberry Pi RP2040
    • Build CanBoot deployment 16Kib Bootloader
    • Com interface Serial on UART

Canboot in UART mode

  • Run make

    make -j 4

  • Connect the Pico by USB to the Klipper Host

  • Install boot jumper on the SKR Pico and press the reset button

  • Mount the Pico file system

    sudo mount /dev/sda1 /mnt

  • Copy Canboot.uf2 to the Pico

    sudo cp ~/CanBoot/out/canboot.uf2 /mnt

  • This will copy the firmware image we compiled earlier onto the SKR-Pico's storage and it will be flashed automatically.

    • This take a minute or so.

  • When the /mnt unmounts remove the boot jumper.

  • Reboot and continue to the next phase..

Flashing Klpper via UART the first time

  • SSH into the Klipper host and CD to klipper

    cd ~/klipper/

  • Run Make Clean

    make clean

  • Run Make Menuconfig

    make menuconfig

  • Settings

    • MCU Raspberry Pi RP2040
    • bootloader offset 16Kib Bootloader
    • Com interface Serial on UART

Klipper UART

  • Run make
make -j 4
  • Connect the SKR Pico UART pins to the klipper host.
  • Flash the klipper.bin file to the SKR Pico
python3 ~/CanBoot/scripts/flash_can.py -f ~/klipper/out/klipper.bin -d  /dev/ttyAMA0
  • Reboot and your Pico should come back up in Serial UART mode.

Flashing again after Canboot and klipper has been installed

  • Press the SKR Pico reset button twice to enter the Canoot bootloader.

  • Run the CanBoot flash_can script to flash the new klipper build.

python3 ~/CanBoot/scripts/flash_can.py -f ~/klipper/out/klipper.bin -d /dev/ttyAMA0
  • Reboot

Links:

Rootiest SKR Pico Canbus guide

Arksine Canboot

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Flashing SKR Pico with CanBoot

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