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04_projects:03_rpi2040_pico_mmu [2025/08/19 10:45] – created jattie04_projects:03_rpi2040_pico_mmu [2025/08/19 20:53] (current) – [Connect the board to the main host application] jattie
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 After some [[https://all3dp.com/2/diy-mmu-ams-alternatives/|research]] and many articles later, I decided to try out the [[https://github.com/lhndo/LH-Stinger/wiki/Pico-MMU|LH-Stinger Pico MMU]]. It is well documented and so many options that it becomes quite overwhelming, but I believe that it can be integrated with a rooted K1 Max is reasonable fashion, with the caveat that I want to explore using the Raspberry Pi Pico 2040 as a controller instead.  After some [[https://all3dp.com/2/diy-mmu-ams-alternatives/|research]] and many articles later, I decided to try out the [[https://github.com/lhndo/LH-Stinger/wiki/Pico-MMU|LH-Stinger Pico MMU]]. It is well documented and so many options that it becomes quite overwhelming, but I believe that it can be integrated with a rooted K1 Max is reasonable fashion, with the caveat that I want to explore using the Raspberry Pi Pico 2040 as a controller instead. 
  
-The theory is that I can flash +The theory is that you can flash a RPI Pico 2040 with Klipper and once that is achieved you simply define the IO pins for stepper and servo control in Klipper scrips. 
  
 +===== The Basic Steps =====
 +
 +  * Install Klipper on a PC
 +  * Create a Configuration
 +  * Build the configuration
 +  * Flash the binary to the Raspberry PI Pico 2040
 +  * Connect the board to the main host application
 +
 +
 +===== Install Klipper on a PC =====
 +
 +<code shell>
 +git clone https://github.com/Klipper3d/klipper
 +cd klipper
 +make menuconfig
 +</code>
 +
 +===== Create a Configuration =====
 +
 +Make Menuconfig brings up this application to easily chose and select options from.
 +
 +{{:04_projects:screenshot_2025-08-19_184502.png?direct|}}
 +
 +For my test I chose the options as shown above.
 +
 +The documentation I could find states the following:
 +
 +^Option ^Recommended Setting^Why^
 +|Enable extra low-level configuration options |✅ Enabled |Required for RP2040-specific tuning|
 +|Micro-controller Architecture |Raspberry Pi RP2040/RP235x |Matches your board|
 +|Processor model |rp2040 |Correct for Raspberry Pi Pico|
 +|Bootloader offset |No bootloader |Pico uses drag-and-drop UF2 flashing|
 +|Flash chip |W25Q080 with CLKDIV 2 |Default for most Pico boards; safe choice|
 +|Communication Interface |USBSERIAL |Needed to connect via USB to your K1 Max|
 +|USB IDs |Leave default |Optional unless you need custom device IDs|
 +|Optimize stepper code for 'step on both edges' |✅ Enabled |Improves stepper performance (recommended)|
 +|GPIO pins to set at micro-controller startup |Leave blank |Only needed for special pin initialization|
 +
 +
 +
 +===== Build the configuration =====
 +
 +<code bash>
 +jattie@Jattie-PC:~/klipper$ make
 +  Building out/autoconf.h
 +  Compiling out/src/sched.o
 +make: arm-none-eabi-gcc: No such file or directory
 +make: *** [Makefile:65: out/src/sched.o] Error 127
 +
 +</code>
 +
 +<WRAP center round tip 60%>
 +That error means your system is missing the ARM cross-compiler toolchain—specifically arm-none-eabi-gcc, which is required to compile firmware for ARM-based microcontrollers like the RP2040.
 +
 +</WRAP>
 +
 +This is resolved by installing the missing tools
 +
 +<code bash>
 +jattie@Jattie-PC:~/klipper$ sudo apt update
 +sudo apt install gcc-arm-none-eabi binutils-arm-none-eabi libnewlib-arm-none-eabi
 +</code>
 +
 +Build then runs to completion as expected.
 +
 +<code bash>
 +jattie@Jattie-PC:~/klipper$ make
 +  Compiling out/src/sched.o
 +  Compiling out/src/command.o
 +  Compiling out/src/basecmd.o
 +  Compiling out/src/debugcmds.o
 +  Compiling out/src/initial_pins.o
 +  Compiling out/src/gpiocmds.o
 +  Compiling out/src/stepper.o
 +  Compiling out/src/endstop.o
 +  Compiling out/src/trsync.o
 +  Compiling out/src/adccmds.o
 +  Compiling out/src/spicmds.o
 +  Compiling out/src/i2ccmds.o
 +  Compiling out/src/pwmcmds.o
 +  Compiling out/src/buttons.o
 +  Compiling out/src/tmcuart.o
 +  Compiling out/src/neopixel.o
 +  Compiling out/src/pulse_counter.o
 +  Compiling out/src/lcd_st7920.o
 +  Compiling out/src/lcd_hd44780.o
 +  Compiling out/src/spi_software.o
 +  Compiling out/src/i2c_software.o
 +  Compiling out/src/thermocouple.o
 +  Compiling out/src/sensor_adxl345.o
 +  Compiling out/src/sensor_lis2dw.o
 +  Compiling out/src/sensor_mpu9250.o
 +  Compiling out/src/sensor_icm20948.o
 +  Compiling out/src/sensor_hx71x.o
 +  Compiling out/src/sensor_ads1220.o
 +  Compiling out/src/sensor_ldc1612.o
 +  Compiling out/src/sensor_angle.o
 +  Compiling out/src/sensor_bulk.o
 +  Compiling out/src/sos_filter.o
 +  Compiling out/src/load_cell_probe.o
 +  Compiling out/src/rp2040/main.o
 +  Compiling out/src/rp2040/watchdog.o
 +  Compiling out/src/rp2040/gpio.o
 +  Compiling out/src/rp2040/adc.o
 +  Compiling out/src/generic/armcm_boot.o
 +  Compiling out/src/generic/armcm_irq.o
 +  Compiling out/src/generic/armcm_reset.o
 +  Compiling out/src/generic/crc16_ccitt.o
 +  Compiling out/src/rp2040/timer.o
 +  Compiling out/src/generic/timer_irq.o
 +  Compiling out/src/rp2040/bootrom.o
 +  Compiling out/src/rp2040/usbserial.o
 +  Compiling out/src/generic/usb_cdc.o
 +  Compiling out/src/rp2040/chipid.o
 +  Compiling out/src/rp2040/hard_pwm.o
 +  Compiling out/src/rp2040/spi.o
 +  Compiling out/src/rp2040/i2c.o
 +  Building out/compile_time_request.o
 +Version: v0.13.0-213-gd34d3b05b
 +  Building rp2040 stage2 out/stage2.o
 +  Preprocessing out/src/rp2040/rpxxxx_link.ld
 +  Linking out/klipper.elf
 +  Building out/lib/elf2uf2/elf2uf2
 +  Creating uf2 file out/klipper.uf2
 +
 +</code>
 +===== Flash the binary to the Raspberry PI Pico 2040 =====
 +
 +  * Plug the Pico into your computer while holding the BOOTSEL button, it will mount as a USB drive.
 +  * Copy klipper.uf2 to the Pico drive, it will reboot automatically.
 +
 +
 +===== Test the Connection =====
 +
 +  * Plug the flashed pico into K1 Max USB Port
 +  * Establish an SSH connection to the K1 Max and found the new serial device.
 +
 +<code ssh>
 +root@creality /root [#] ls /dev/serial/by-id/
 +usb-Klipper_rp2040_E66058388361172C-if00
 +root@creality /root [#]
 +</code>
 +
 +We seem to have a successful Klipper installation on the Pico 2040.
 +
 +
 +===== Connect the board to the main host application =====
 +
 +<WRAP center round tip 60%>
 +Some basic testing to confirm all is well, add the basic config and simply blink the LED on the Pico 2040.
 +</WRAP>
 +
 +
 +<code ini>
 +[mcu pico_2040_mmu]
 +serial: /dev/serial/by-id/usb-Klipper_rp2040_E66058388361172C-if00
 +
 +[output_pin pico_led]
 +pin: pico_2040_mmu:gpio25
 +pwm: False
 +shutdown_value: 0
 +
 +</code>
 +
 +Adding the config and restarting Klipper however yield this error:
 +
 +<code bash>
 +MCU Protocol error
 +
 +This type of error is frequently caused by running an older
 +version of the firmware on the micro-controller (fix by
 +recompiling and flashing the firmware).
 +
 +Your Klipper version is: 09faed31-dirty
 +MCU(s) which should be updated:
 +mcu: Current version 1.3.0.40-5-g6977eaff-dirty-20230711_100121-ubuntu
 +nozzle_mcu: Current version 1.3.0.40-5-g6977eaff-dirty-20230711_100254-ubuntu
 +leveling_mcu: Current version 1.3.0.40-5-g6977eaff-dirty-20230711_095416-ubuntu
 +Up-to-date MCU(s):
 +
 +
 +Once the underlying issue is corrected, use the "RESTART"
 +command to reload the config and restart the host software.
 +
 +mcu 'pico_2040_mmu': Multi-byte msgtag not supported
 +</code>
04_projects/03_rpi2040_pico_mmu.1755600326.txt.gz · Last modified: by jattie