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KevinOConnor
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CANBUS.html
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CANBUS.html
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USB to CAN bus bridge mode
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</a>
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</li>
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<li class="md-nav__item">
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<a href="#tips-for-troubleshooting" class="md-nav__link">
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Tips for troubleshooting
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</a>
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</li>
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</ul>
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<li class="md-nav__item">
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<a href="CANBUS_Troubleshooting.html" class="md-nav__link">
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CANBUS Troubleshooting
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</a>
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</li>
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<li class="md-nav__item">
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<a href="TSL1401CL_Filament_Width_Sensor.html" class="md-nav__link">
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TSL1401CL filament width sensor
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USB to CAN bus bridge mode
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</a>
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</li>
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<li class="md-nav__item">
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<a href="#tips-for-troubleshooting" class="md-nav__link">
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Tips for troubleshooting
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</a>
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</li>
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</ul>
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<h1 id="canbus">CANBUS<a class="headerlink" href="#canbus" title="Permanent link">¶</a></h1>
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<p>This document describes Klipper's CAN bus support.</p>
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<h2 id="device-hardware">Device Hardware<a class="headerlink" href="#device-hardware" title="Permanent link">¶</a></h2>
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<p>Klipper currently supports CAN on stm32, same5x, and rp2040 chips. In
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<p>Klipper currently supports CAN on stm32, SAME5x, and rp2040 chips. In
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addition, the micro-controller chip must be on a board that has a CAN
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transceiver.</p>
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<p>To compile for CAN, run <code>make menuconfig</code> and select "CAN bus" as the
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communication interface. Finally, compile the micro-controller code
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and flash it to the target board.</p>
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<h2 id="host-hardware">Host Hardware<a class="headerlink" href="#host-hardware" title="Permanent link">¶</a></h2>
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<p>In order to use a CAN bus, it is necessary to have a host adapter.
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There are currently two common options:</p>
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<ol>
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<li>
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<p>Use a
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<a href="https://www.waveshare.com/rs485-can-hat.htm">Waveshare Raspberry Pi CAN hat</a>
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or one of its many clones.</p>
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</li>
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<li>
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<p>Use a USB CAN adapter (for example
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<a href="https://hacker-gadgets.com/product/cantact-usb-can-adapter/"><a href="https://hacker-gadgets.com/product/cantact-usb-can-adapter/">https://hacker-gadgets.com/product/cantact-usb-can-adapter/</a></a>). There
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are many different USB to CAN adapters available - when choosing
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one, we recommend verifying it can run the
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<a href="https://github.com/candle-usb/candleLight_fw">candlelight firmware</a>.
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(Unfortunately, we've found some USB adapters run defective
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firmware and are locked down, so verify before purchasing.)</p>
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</li>
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</ol>
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<p>In order to use a CAN bus, it is necessary to have a host adapter. It
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is recommended to use a "USB to CAN adapter". There are many different
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USB to CAN adapters available from different manufacturers. When
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choosing one, we recommend verifying that the firmware can be updated
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on it. (Unfortunately, we've found some USB adapters run defective
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firmware and are locked down, so verify before purchasing.) Look for
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adapters that can run Klipper directly (in its "USB to CAN bridge
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mode") or that run the
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<a href="https://github.com/candle-usb/candleLight_fw">candlelight firmware</a>.</p>
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<p>It is also necessary to configure the host operating system to use the
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adapter. This is typically done by creating a new file named
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<code>/etc/network/interfaces.d/can0</code> with the following contents:</p>
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<div class="highlight"><pre><span></span><code>auto can0
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<div class="highlight"><pre><span></span><code>allow-hotplug can0
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iface can0 can static
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bitrate 500000
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bitrate 1000000
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up ifconfig $IFACE txqueuelen 128
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</code></pre></div>
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<p>Note that the "Raspberry Pi CAN hat" also requires
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<a href="https://www.waveshare.com/wiki/RS485_CAN_HAT">changes to config.txt</a>.</p>
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<h2 id="terminating-resistors">Terminating Resistors<a class="headerlink" href="#terminating-resistors" title="Permanent link">¶</a></h2>
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<p>A CAN bus should have two 120 ohm resistors between the CANH and CANL
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wires. Ideally, one resistor located at each the end of the bus.</p>
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<p>Note that some devices have a builtin 120 ohm resistor (for example,
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the "Waveshare Raspberry Pi CAN hat" has a soldered on resistor that
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can not be easily removed). Some devices do not include a resistor at
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all. Other devices have a mechanism to select the resistor (typically
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by connecting a "pin jumper"). Be sure to check the schematics of all
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<p>Note that some devices have a builtin 120 ohm resistor that can not be
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easily removed. Some devices do not include a resistor at all. Other
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devices have a mechanism to select the resistor (typically by
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connecting a "pin jumper"). Be sure to check the schematics of all
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devices on the CAN bus to verify that there are two and only two 120
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Ohm resistors on the bus.</p>
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<p>To test that the resistors are correct, one can remove power to the
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@@ -1441,21 +1457,16 @@ canbus_uuid: 11aa22bb33cc
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<h2 id="usb-to-can-bus-bridge-mode">USB to CAN bus bridge mode<a class="headerlink" href="#usb-to-can-bus-bridge-mode" title="Permanent link">¶</a></h2>
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<p>Some micro-controllers support selecting "USB to CAN bus bridge" mode
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during "make menuconfig". This mode may allow one to use a
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during Klipper's "make menuconfig". This mode may allow one to use a
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micro-controller as both a "USB to CAN bus adapter" and as a Klipper
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node.</p>
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<p>When Klipper uses this mode the micro-controller appears as a "USB CAN
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bus adapter" under Linux. The "Klipper bridge mcu" itself will appear
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as if was on this CAN bus - it can be identified via <code>canbus_query.py</code>
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and configured like other CAN bus Klipper nodes. It will appear
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alongside other devices that are actually on the CAN bus.</p>
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as if it was on this CAN bus - it can be identified via
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<code>canbus_query.py</code> and it must be configured like other CAN bus Klipper
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nodes.</p>
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<p>Some important notes when using this mode:</p>
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<ul>
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<li>The "bridge mcu" is not actually on the CAN bus. Messages to and
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from it do not consume bandwidth on the CAN bus. The mcu can not be
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seen by other adapters that may be on the CAN bus.</li>
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</ul>
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<ul>
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<li>It is necessary to configure the <code>can0</code> (or similar) interface in
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Linux in order to communicate with the bus. However, Linux CAN bus
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speed and CAN bus bit-timing options are ignored by Klipper.
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@@ -1465,16 +1476,43 @@ alongside other devices that are actually on the CAN bus.</p>
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<ul>
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<li>Whenever the "bridge mcu" is reset, Linux will disable the
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corresponding <code>can0</code> interface. To ensure proper handling of
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FIRMWARE_RESTART and RESTART commands, it is recommended to replace
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<code>auto</code> with <code>allow-hotplug</code> in the <code>/etc/network/interfaces.d/can0</code>
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file. For example:</li>
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FIRMWARE_RESTART and RESTART commands, it is recommended to use
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<code>allow-hotplug</code> in the <code>/etc/network/interfaces.d/can0</code> file. For
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example:</li>
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</ul>
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<div class="highlight"><pre><span></span><code>allow-hotplug can0
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iface can0 can static
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bitrate 500000
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bitrate 1000000
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up ifconfig $IFACE txqueuelen 128
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</code></pre></div>
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<ul>
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<li>The "bridge mcu" is not actually on the CAN bus. Messages to and
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from the bridge mcu will not be seen by other adapters that may be
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on the CAN bus.</li>
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</ul>
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<ul>
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<li>
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<p>The available bandwidth to both the "bridge mcu" itself and all
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devices on the CAN bus is effectively limited by the CAN bus
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frequency. As a result, it is recommended to use a CAN bus frequency
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of 1000000 when using "USB to CAN bus bridge mode".</p>
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<p>Even at a CAN bus frequency of 1000000, there may not be sufficient
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bandwidth to run a <code>SHAPER_CALIBRATE</code> test if both the XY steppers
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and the accelerometer all communicate via a single "USB to CAN bus"
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interface.</p>
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</li>
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</ul>
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<ul>
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<li>A USB to CAN bridge board will not appear as a USB serial device, it
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will not show up when running <code>ls /dev/serial/by-id</code>, and it can not
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be configured in Klipper's printer.cfg file with a <code>serial:</code>
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parameter. The bridge board appears as a "USB CAN adapter" and it is
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configured in the printer.cfg as a <a href="#configuring-klipper">CAN node</a>.</li>
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</ul>
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<h2 id="tips-for-troubleshooting">Tips for troubleshooting<a class="headerlink" href="#tips-for-troubleshooting" title="Permanent link">¶</a></h2>
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<p>See the <a href="CANBUS_Troubleshooting.html">CAN bus troubleshooting</a> document.</p>
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</article>
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</div>
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@@ -1508,13 +1546,13 @@ iface can0 can static
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<a href="TSL1401CL_Filament_Width_Sensor.html" class="md-footer__link md-footer__link--next" aria-label="Next: TSL1401CL filament width sensor" rel="next">
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<a href="CANBUS_Troubleshooting.html" class="md-footer__link md-footer__link--next" aria-label="Next: CANBUS Troubleshooting" rel="next">
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<div class="md-footer__title">
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<div class="md-ellipsis">
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<span class="md-footer__direction">
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Next
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</span>
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TSL1401CL filament width sensor
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CANBUS Troubleshooting
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</div>
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</div>
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<div class="md-footer__button md-icon">
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