Firmware
Cartographer firmware is based on a Klipper fork. Without the work of the Klipper team none of this would be possible.
What do you want to do?
Section titled “What do you want to do?”| I want to… | Go to |
|---|---|
| Update the firmware on a working probe (USB or CAN) | Updating Firmware. The update script does it in a couple of minutes. |
| Switch a V4 from USB to CAN | V4 - Switching from USB to CAN. A script does this too. |
| Switch a V3 between USB and CAN, switch a V4 back to USB, or use a CAN speed other than 1M | Switching Protocols |
| Recover a probe that no longer responds, or has no Katapult bootloader | Recovery via DFU |
| Find out whether I have a V3 or a V4 | Which version do I have? |
Which firmware for which device?
Section titled “Which firmware for which device?”Not all firmware is compatible with every device. Cartographer V1 uses an RP2040, V2 and V3 use an STM32F042, and V4 uses an STM32G431. Flashing firmware built for a different device will leave the probe unresponsive, and at minimum you will need to recover it via DFU. V1 is not supported by the current firmware; see the archive.
In the firmware repository, V2 and V3 files live under ~/cartographer_firmware/firmware/v2-v3/ and V4 files under ~/cartographer_firmware/firmware/v4/. Each folder below is written as <version>, meaning v2-v3 or v4.
Which file should I use?
Section titled “Which file should I use?”The repository contains several kinds of file. The update and switching scripts pick the right one for you; this section is for the manual methods.
Combined firmware (Katapult_plus_…)
Section titled “Combined firmware (Katapult_plus_…)”Cartographer firmware with the Katapult bootloader already included. It is only ever flashed via DFU, at the default address 0x08000000. Do not flash it through Katapult, and do not flash it at 0x08002000; either way the probe will need recovering.
Location: ~/cartographer_firmware/firmware/<version>/combined-firmware/<release>/
Katapult
Section titled “Katapult”The Katapult bootloader on its own. Once it is on the probe you can update firmware over USB or CAN without touching the hardware or entering DFU mode. It is flashed via DFU at 0x08000000 and rarely needs updating afterwards. V4 Katapult files exist for USB and for CAN at 1M, 500K and 250K.
Location: ~/cartographer_firmware/firmware/<version>/katapult/
Katapult deployer
Section titled “Katapult deployer”A version of Katapult that can be flashed through Katapult to change the probe’s protocol. For example, to move a probe from USB to CAN you flash the CAN deployer through the existing USB Katapult. It replaces the bootloader with one for the new protocol and wipes the Cartographer firmware, after which you flash new firmware over the new protocol. Deployers exist for USB and for CAN at 1M, 500K and 250K.
Location: ~/cartographer_firmware/firmware/<version>/katapult-deployer/
Cartographer firmware (…_8kib_offset.bin)
Section titled “Cartographer firmware (…_8kib_offset.bin)”The main firmware, built for one hardware version, one protocol (USB, or CAN at a specific speed) and either Full or Lite. These files are flashed through Katapult, or via DFU at 0x08002000 on top of an existing Katapult. Make sure the file matches your hardware: do not flash V4 firmware to a V3 or the other way round.
Location: ~/cartographer_firmware/firmware/v2-v3/survey/<release>/ for V2 and V3, and ~/cartographer_firmware/firmware/v4/firmware/<release>/ for V4. (The survey folder name is historical.)
Full vs Lite firmware
Section titled “Full vs Lite firmware”Full and Lite firmware behave the same, except that Lite sends fewer samples to the host to reduce its load. Use Lite if your host is a lower-powered board such as the one in a Creality K1 or K2, a Qidi, or a Raspberry Pi Zero 2, or if you see connection losses with Full. Otherwise use Full.