diff options
Diffstat (limited to 'docs')
| -rw-r--r-- | docs/CANBUS.md | 22 |
1 files changed, 14 insertions, 8 deletions
diff --git a/docs/CANBUS.md b/docs/CANBUS.md index 90efacf5..f8d64676 100644 --- a/docs/CANBUS.md +++ b/docs/CANBUS.md @@ -4,9 +4,9 @@ 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. +Klipper currently supports CAN on stm32 and rp2040 chips. In addition, +the micro-controller chip must be on a board that has a CAN +transceiver. To compile for CAN, run `make menuconfig` and select "CAN bus" as the communication interface. Finally, compile the micro-controller code @@ -73,7 +73,7 @@ powered and wired correctly, and then run: If uninitialized CAN devices are detected the above command will report lines like the following: ``` -Found canbus_uuid=11aa22bb33cc +Found canbus_uuid=11aa22bb33cc, Application: Klipper ``` Each device will have a unique identifier. In the above example, @@ -118,7 +118,13 @@ Some important notes when using this mode: menuconfig" and the bus speed specified in Linux is ignored. * Whenever the "bridge mcu" is reset, Linux will disable the - corresponding `can0` interface. Generally, this may require running - commands such as "ip up" to restart the interface. Thus, Klipper - FIRMWARE_RESTART commands (or regular RESTART after a config change) - may require restarting the `can0` interface. + corresponding `can0` interface. To ensure proper handling of + FIRMWARE_RESTART and RESTART commands, it is recommended to replace + `auto` with `allow-hotplug` in the `/etc/network/interfaces.d/can0` + file. For example: +``` +allow-hotplug can0 +iface can0 can static + bitrate 500000 + up ifconfig $IFACE txqueuelen 128 +``` |