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| -rw-r--r-- | docs/CANBUS_protocol.md | 4 | ||||
| -rw-r--r-- | docs/Config_Changes.md | 5 | ||||
| -rw-r--r-- | docs/Overview.md | 3 | ||||
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| -rw-r--r-- | docs/stm32f0_CAN.md | 142 |
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diff --git a/docs/CANBUS.md b/docs/CANBUS.md new file mode 100644 index 00000000..07569205 --- /dev/null +++ b/docs/CANBUS.md @@ -0,0 +1,74 @@ +This document describes Klipper's CAN bus support. + +# Device Hardware + +Klipper currently only supports CAN on stm32 chips. In addition, the +micro-controller chip must support CAN and it must be on a board that +has a CAN transceiver. + +To compile for CAN, run "make menuconfig", unselect "Use USB for +communication (instead of serial)" and then select "Use CAN for +communication (instead of serial)". Finally, compile the +micro-controller code and flash it to the target board. + +# Host Hardware + +In order to use a CAN bus, it is necessary to have a host adapter. +There are currently two common options: + +1. Use a [Waveshare Raspberry Pi CAN + hat](https://www.waveshare.com/rs485-can-hat.htm) or one of its + many clones. + +2. Use a USB CAN adapter (for example + [https://hacker-gadgets.com/product/cantact-usb-can-adapter/](https://hacker-gadgets.com/product/cantact-usb-can-adapter/)). There + are many different USB to CAN adapters available - when choosing + one, we recommend verifying it can run the [candlelight + firmware](https://github.com/candle-usb/candleLight_fw). (Unfortunately, + we've found some USB adapters run defective firmware and are locked + down, so verify before purchasing.) + +It is also necessary to configure the host operating system to use the +adapter. This is typically done by creating a new file named +`/etc/network/interfaces.d/can0` with the following contents: +``` +auto can0 +iface can0 can static + bitrate 500000 + up ifconfig $IFACE txqueuelen 128 +``` + +Note that the "Raspberry Pi CAN hat" also requires [changes to +config.txt](https://www.waveshare.com/wiki/RS485_CAN_HAT). + +# Finding the canbus_uuid for new micro-controllers + +Each micro-controller on the CAN bus is assigned a unique id based on +the factory chip identifier encoded into each micro-controller. To +find each micro-controller device id, make sure the hardware is +powered and wired correctly, and then run: +``` +~/klippy-env/bin/python ~/klipper/scripts/canbus_query.py can0 +``` + +If uninitialized CAN devices are detected the above command will +report lines like the following: +``` +Found canbus_uuid=11aa22bb33cc +``` + +Each device will have a unique identifier. In the above example, +`11aa22bb33cc` is the micro-controller's "canbus_uuid". + +Note that the `canbus_query.py` tool will only report uninitialized +devices - if Klipper (or a similar tool) configures the device then it +will no longer appear in the list. + +# Configuring Klipper + +Update the Klipper [mcu configuration](Config_Reference.md#mcu) to use +the CAN bus to communicate with the device - for example: +``` +[mcu my_can_mcu] +canbus_uuid: 11aa22bb33cc +``` diff --git a/docs/CANBUS_protocol.md b/docs/CANBUS_protocol.md index f5e56c74..3fa2bf2d 100644 --- a/docs/CANBUS_protocol.md +++ b/docs/CANBUS_protocol.md @@ -1,5 +1,7 @@ This document describes the protocol Klipper uses to communicate over -[CAN bus](https://en.wikipedia.org/wiki/CAN_bus). +[CAN bus](https://en.wikipedia.org/wiki/CAN_bus). See +[CANBUS.md](CANBUS.md) for information on configuring Klipper with CAN +bus. # Micro-controller id assignment diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md index 0236fbd6..2c44b1c5 100644 --- a/docs/Config_Changes.md +++ b/docs/Config_Changes.md @@ -6,6 +6,11 @@ All dates in this document are approximate. # Changes +20210313: Klipper's support for micro-controllers that communicate +with CAN bus has changed. If using CAN bus then all micro-controllers +must be reflashed and the [Klipper configuration must be +updated](CANBUS.md). + 20210310: The TMC2660 default for driver_SFILT has been changed from 1 to 0. diff --git a/docs/Overview.md b/docs/Overview.md index 50d04bb5..48a10a3a 100644 --- a/docs/Overview.md +++ b/docs/Overview.md @@ -80,7 +80,6 @@ communication with the Klipper developers. Beaglebone PRU. - [Bootloaders](Bootloaders.md): Developer information on micro-controller flashing. -- [stm32f0](stm32f0_CAN.md): Information on the STM32F0 micro-controller - port. +- [CAN bus](CANBUS.md): Information on using CAN bus with Klipper. - [TSL1401CL filament width sensor](TSL1401CL_Filament_Width_Sensor.md) - [Hall filament width sensor](HallFilamentWidthSensor.md) diff --git a/docs/img/canhat.jpg b/docs/img/canhat.jpg Binary files differdeleted file mode 100644 index 6c05ce0f..00000000 --- a/docs/img/canhat.jpg +++ /dev/null diff --git a/docs/img/mcp2515.jpg b/docs/img/mcp2515.jpg Binary files differdeleted file mode 100644 index 6a614522..00000000 --- a/docs/img/mcp2515.jpg +++ /dev/null diff --git a/docs/img/mcp2515_vcc_cut.png b/docs/img/mcp2515_vcc_cut.png Binary files differdeleted file mode 100644 index 91e344e4..00000000 --- a/docs/img/mcp2515_vcc_cut.png +++ /dev/null diff --git a/docs/img/stlinkv2-700x700.jpg b/docs/img/stlinkv2-700x700.jpg Binary files differdeleted file mode 100644 index 6276d774..00000000 --- a/docs/img/stlinkv2-700x700.jpg +++ /dev/null diff --git a/docs/stm32f0_CAN.md b/docs/stm32f0_CAN.md deleted file mode 100644 index 8ee9838c..00000000 --- a/docs/stm32f0_CAN.md +++ /dev/null @@ -1,142 +0,0 @@ -This document describes how the STM32F0 port operates and how to work with -tiny CAN-enabled boards. - -Required components -=================== - -#### MCP2515 module - - -or this - - -#### St-link dongle - - - - -Adding CAN bus to Raspberry Pi -============================== -(Based on Quick Guide https://www.raspberrypi.org/forums/viewtopic.php?f=44&t=141052) - -First of all, (only if you have small CAN module) it’s necessary to modify the CAN-module from ebay, because it has -only one VCC pin, but the MCP2515 needs to be powered from 3V3 and the TJA1050 -CAN-transceiver needs to be powered from 5V. Powering both chips from 5V would -work, but then a level-shifter for the SPI would be needed. The Pi's GPIO pins -are NOT 5V tolerant. Cut a trace on the PCB and soldered a pin onto the trace -to deliver 5V only to the TJA1050. Be sure to cut the trace before the capacitor: - - - -Next connect the module: - -| MCP2515 | Raspberry Pi | -| --- | --- | -| VCC | 1 (3V3) | -| TJA 1050 VCC | 2 (5V) | -| GND | 6 (GND) | -| CS | 24 (CE0) | -| MISO | 21 (MISO) | -| MOSI | 19 (MOSI) | -| SCK | 23 (SCK) | -| INT | 22 (GPIO25) | - -Install can-utils: -> sudo apt-get install can-utils - -To activate the driver for the MCP2515 you have to add a kernel overlay, to do -so edit the /boot/config.txt -> sudo nano /boot/config.txt - -And add the following lines (set oscillator value according to crystal on your board): - -``` -dtparam=spi=on -dtoverlay=mcp2515-can0,oscillator=8000000,interrupt=25 -dtoverlay=spi1-1cs -``` - -Now reboot, after the reboot try to setup the the can interface: -> sudo ip link set can0 up type can bitrate 500000 - -If no errors occurred, the can interface should be ready now. -To make the CAN-interface permanent, add the following lines to /etc/network/interfaces - -``` -auto can0 -iface can0 can static - bitrate 500000 -``` - -Communicating over CAN -====================== - -Use "Serial over CAN" emulator software to establish connection: -https://github.com/Delsian/CanSerial - -Install st-link on Raspberry Pi -=============================== - -> sudo apt-get update - -> sudo apt-get install cmake - -> sudo apt-get install libusb-1.0-0-dev - -> git clone https://github.com/texane/stlink stlink-repo - -> cd stlink-repo - -> make - -> cd build/Release/ - -> sudo make install - - -Copy to /etc/udev/rules.d/49-stlinkv2.rules: - -``` -# stm32 discovery boards, with onboard st/linkv2 -# ie, STM32L, STM32F4. -# STM32VL has st/linkv1, which is quite different - -SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="3748", \ - MODE:="0666", \ - SYMLINK+="stlinkv2_%n" - -SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", \ - KERNEL!="sd*", KERNEL!="sg*", KERNEL!="tty*", SUBSYSTEM!="bsg", \ - MODE:="0666", \ - SYMLINK+="stlinkv2_%n" - -SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", \ - KERNEL=="sd*", MODE:="0666", \ - SYMLINK+="stlinkv2_disk" - -SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", \ - KERNEL=="sg*", MODE:="0666", \ - SYMLINK+="stlinkv2_raw_scsi" - -SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", \ - SUBSYSTEM=="bsg", MODE:="0666", \ - SYMLINK+="stlinkv2_block_scsi" - -SUBSYSTEMS=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", \ - KERNEL=="tty*", MODE:="0666", \ - SYMLINK+="stlinkv2_console" - -# If you share your linux system with other users, or just don't like the -# idea of write permission for everybody, you can replace MODE:="0666" with -# OWNER:="yourusername" to create the device owned by you, or with -# GROUP:="somegroupname" and control access using standard unix groups. -``` - -Now "make flash" command can upload HEX into connected board - -Pins allocation -=============== - -Configurations with CAN and Serial port uses different pins, and during enumeration -process firmware reports all possible pin names. But actually you can use only -existing pins, not involved in communication. Wrong pins will generate shutdown. |
