SDCard updates¶

Many of today's popular controller boards ship with a bootloader capable of updating firmware via SD Card. While this is convenient in many circumstances, these bootloaders typically provide no other way to update firmware. This can be a nuisance if your board is mounted in a location that is difficult to access or if you need to update firmware often. After Kalico has been initially flashed to a controller it is possible to transfer new firmware to the SD Card and initiate the flashing procedure via ssh.

Typical Upgrade Procedure¶

The procedure for updating MCU firmware using the SD Card is similar to that of other methods. Instead of using make flash it is necessary to run a helper script, flash-sdcard.sh. Updating a BigTreeTech SKR 1.3 might look like the following:

sudo service klipper stop
cd ~/klipper
git pull
make clean
make menuconfig
make
./scripts/flash-sdcard.sh /dev/ttyACM0 btt-skr-v1.3
sudo service klipper start

It is up to the user to determine the device location and board name. If a user needs to flash multiple boards, flash-sdcard.sh (or make flash if appropriate) should be run for each board prior to restarting the Klipper service.

Supported boards can be listed with the following command:

./scripts/flash-sdcard.sh -l

If you do not see your board listed it may be necessary to add a new board definition as described below.

Advanced Usage¶

The above commands assume that your MCU connects at the default baud rate of 250000 and the firmware is located at ~/klipper/out/klipper.bin. The flash-sdcard.sh script provides options for changing these defaults. All options can be viewed by the help screen:

./scripts/flash-sdcard.sh -h
SD Card upload utility for Kalico

usage: flash_sdcard.sh [-h] [-l] [-c] [-b <baud>] [-f <firmware>]
                       <device> <board>

positional arguments:
  <device>        device serial port
  <board>         board type

optional arguments:
  -h              show this message
  -l              list available boards
  -c              run flash check/verify only (skip upload)
  -b <baud>       serial baud rate (default is 250000)
  -f <firmware>   path to klipper.bin

If your board is flashed with firmware that connects at a custom baud rate it is possible to upgrade by specifying the -b option:

./scripts/flash-sdcard.sh -b 115200 /dev/ttyAMA0 btt-skr-v1.3

If you wish to flash a build of Kalico located somewhere other than the default location it can be done by specifying the -f option:

./scripts/flash-sdcard.sh -f ~/downloads/klipper.bin /dev/ttyAMA0 btt-skr-v1.3

Note that when upgrading a MKS Robin E3 it is not necessary to manually run update_mks_robin.py and supply the resulting binary to flash-sdcard.sh. This procedure is automated during the upload process.

The -c option is used to perform a check or verify-only operation to test if the board is running the specified firmware correctly. This option is primarily intended for cases where a manual power-cycle is necessary to complete the flashing procedure, such as with bootloaders that use SDIO mode instead of SPI to access their SD Cards. (See Caveats below) But, it can also be used anytime to verify if the code flashed into the board matches the version in your build folder on any supported board.

Caveats¶

As mentioned in the introduction, this method only works for upgrading firmware. The initial flashing procedure must be done manually per the instructions that apply to your controller board.
While it is possible to flash a build that changes the Serial Baud or connection interface (ie: from USB to UART), verification will always fail as the script will be unable to reconnect to the MCU to verify the current version.
Only boards that use SPI for SD Card communication are supported. Boards that use SDIO, such as the Flymaker Flyboard and MKS Robin Nano V1/V2, will not work in SDIO mode. However, it's usually possible to flash such boards using Software SPI mode instead. But if the board's bootloader only uses SDIO mode to access the SD Card, a power-cycle of the board and SD Card will be necessary so that the mode can switch from SPI back to SDIO to complete reflashing. Such boards should be defined with skip_verify enabled to skip the verify step immediately after flashing. Then after the manual power-cycle, you can rerun the exact same ./scripts/flash-sdcard.sh command, but add the -c option to complete the check/verify operation. See Flashing Boards that use SDIO for examples.

Board Definitions¶

Most common boards should be available, however it is possible to add a new board definition if necessary. Board definitions are located in ~/klipper/scripts/spi_flash/board_defs.py. The definitions are stored in dictionary, for example:

BOARD_DEFS = {
    'generic-lpc1768': {
        'mcu': "lpc1768",
        'spi_bus': "ssp1",
        "cs_pin": "P0.6"
    },
    ...<further definitions>
}

The following fields may be specified:

mcu: The mcu type. This can be retrieved after configuring the build via make menuconfig by running cat .config | grep CONFIG_MCU. This field is required.
spi_bus: The SPI bus connected to the SD Card. This should be retrieved from the board's schematic. This field is required.
cs_pin: The Chip Select Pin connected to the SD Card. This should be retrieved from the board schematic. This field is required.
firmware_path: The path on the SD Card where firmware should be transferred. The default is firmware.bin.
current_firmware_path: The path on the SD Card where the renamed firmware file is located after a successful flash. The default is firmware.cur.
skip_verify: This defines a boolean value which tells the scripts to skip the firmware verification step during the flashing process. The default is False. It can be set to True for boards that require a manual power-cycle to complete flashing. To verify the firmware afterward, run the script again with the -c option to perform the verification step. See caveats with SDIO cards

If software SPI is required, the spi_bus field should be set to swspi and the following additional field should be specified:

spi_pins: This should be 3 comma separated pins that are connected to the SD Card in the format of miso,mosi,sclk.

It should be exceedingly rare that Software SPI is necessary, typically only boards with design errors or boards that normally only support SDIO mode for their SD Card will require it. The btt-skr-pro board definition provides an example of the former, and the btt-octopus-f446-v1 board definition provides an example of the latter.

Prior to creating a new board definition one should check to see if an existing board definition meets the criteria necessary for the new board. If this is the case, a BOARD_ALIAS may be specified. For example, the following alias may be added to specify my-new-board as an alias for generic-lpc1768:

BOARD_ALIASES = {
    ...<previous aliases>,
    'my-new-board': BOARD_DEFS['generic-lpc1768'],
}

If you need a new board definition and you are uncomfortable with the procedure outlined above it is recommended that you request one in the Kalico Discord server.

Flashing Boards that use SDIO¶

As mentioned in the Caveats, boards whose bootloader uses SDIO mode to access their SD Card require a power-cycle of the board, and specifically the SD Card itself, in order to switch from the SPI Mode used while writing the file to the SD Card back to SDIO mode for the bootloader to flash it into the board. These board definitions will use the skip_verify flag, which tells the flashing tool to stop after writing the firmware to the SD Card so that the board can be manually power-cycled and the verification step deferred until that's complete.

There are two scenarios -- one with the RPi Host running on a separate power supply and the other when the RPi Host is running on the same power supply as the main board being flashed. The difference is whether or not it's necessary to also shutdown the RPi and then ssh again after the flashing is complete in order to do the verification step, or if the verification can be done immediately. Here's examples of the two scenarios:

SDIO Programming with RPi on Separate Power Supply¶

A typical session with the RPi on a Separate Power Supply looks like the following. You will, of course, need to use your proper device path and board name:

sudo service klipper stop
cd ~/klipper
git pull
make clean
make menuconfig
make
./scripts/flash-sdcard.sh /dev/ttyACM0 btt-octopus-f446-v1
[[[manually power-cycle the printer board here when instructed]]]
./scripts/flash-sdcard.sh -c /dev/ttyACM0 btt-octopus-f446-v1
sudo service klipper start

SDIO Programming with RPi on the Same Power Supply¶

A typical session with the RPi on the Same Power Supply looks like the following. You will, of course, need to use your proper device path and board name:

sudo service klipper stop
cd ~/klipper
git pull
make clean
make menuconfig
make
./scripts/flash-sdcard.sh /dev/ttyACM0 btt-octopus-f446-v1
sudo shutdown -h now
[[[wait for the RPi to shutdown, then power-cycle and ssh again to the RPi when it restarts]]]
sudo service klipper stop
cd ~/klipper
./scripts/flash-sdcard.sh -c /dev/ttyACM0 btt-octopus-f446-v1
sudo service klipper start

In this case, since the RPi Host is being restarted, which will restart the klipper service, it's necessary to stop klipper again before doing the verification step and restart it after verification is complete.

SDIO to SPI Pin Mapping¶

If your board's schematic uses SDIO for its SD Card, you can map the pins as described in the chart below to determine the compatible Software SPI pins to assign in the board_defs.py file:

SD Card Pin	Micro SD Card Pin	SDIO Pin Name	SPI Pin Name
9	1	DATA2	None (PU)*
1	2	CD/DATA3	CS
2	3	CMD	MOSI
4	4	+3.3V (VDD)	+3.3V (VDD)
5	5	CLK	SCLK
3	6	GND (VSS)	GND (VSS)
7	7	DATA0	MISO
8	8	DATA1	None (PU)*
N/A	9	Card Detect (CD)	Card Detect (CD)
6	10	GND	GND

* None (PU) indicates an unused pin with a pull-up resistor