Switching Protocols

To switch your probe from CAN to USB or USB to CAN, the simplest method is to use Katapult and flash the Katapult Deployer file, though you can also use DFU via USB.

Prerequisites

You must have both the Cartographer Firmware repository, and Katapult on your Pi, if you do not have these please connect via SSH and run the following command.

cd ~
if [ -d ~/cartographer_firmware/ ]; then
    echo "Cartographer Firmware Exists - Updating Repository"
    cd ~/cartographer_firmware/
    git pull
else
    git clone https://github.com/Cartographer3D/cartographer_firmware.git
fi
cd ~
if [ -d ~/katapult/ ]; then
    echo "Katapult Exists - Updating Repository"
    cd ~/katapult/
    git pull
else
    git clone https://github.com/Arksine/katapult.git
fi

Switching Protocol

Switching to CAN (1M) from USB

You should know which version of the Cartographer Probe you have in order to be able to do this, please refer to the diagrams below to identify your version.

Cartographer V3 - Standard, Low Profile, RIght Angle

Cartographer V4 - Standard / Low Profile*

*Cartographer V4 Low Profile has a different connector on it, but the PCB is the same design.

Step 1 - Enter Bootloader Mode

The following steps can be done on both Cartographer V3 and Cartographer V4

Automatic Method

We need to get our probe into the Katapult bootloader mode, to do so you can simply run this script

CARTO=$(ls /dev/serial/by-id/ 2>/dev/null | grep -i cartographer | head -n 1)

if [ -z "$CARTO" ]; then
    echo -e "\e[31mERROR: No Cartographer probe found in /dev/serial/by-id/. Is it plugged in via USB?\e[0m "
fi

cd ~/klipper/scripts || exit 1
~/klippy-env/bin/python -c "import flash_usb as u; u.enter_bootloader('/dev/serial/by-id/$CARTO')"

Manual Method

Once your probe is in Bootloader mode, move onto the next step.

Step 2 - Flash Firmware

Cartographer V3

Now your Cartographer is in Katapult Mode, you now need to navigate to the correct katapult deployer file to flash it.

Automatic Katapult Deployer CAN (1,000,000)

KATAPULT=$(ls /dev/serial/by-id/ 2>/dev/null | grep -i katapult | head -n 1)
cd ~/cartographer_firmware/firmware/v2-v3/katapult-deployer/
~/klippy-env/bin/python ~/klipper/lib/canboot/flash_can.py -f katapult-deployer-1m.bin -d /dev/serial/by-id/$KATAPULT

Your probe should now have the latest Cartographer Firmware installed on it. This page will be updated to include the command for the latest version available for this probe

Manual - Katapult Deployer CAN (1,000,000)

Navigate to the folder where your katapult deployer is located

cd ~/cartographer_firmware/firmware/v2-v3/katapult-deployer/

Now, run the following command, replacing <firmware> with the firmware you are flashing, and <serial> with the serial ID and path.

~/klippy-env/bin/python ~/klipper/lib/canboot/flash_can.py -f <firmware> -d <serial>

Again, an example of a full command

~/klippy-env/bin/python ~/klipper/lib/canboot/flash_can.py -f katapult-deployer-1m.bin -d /dev/serial/by-id/usb-katapult_stm32f042x6_060012001643565537353020-if00

If successful, you should have a similar output

If successful, you should have the following output.

Cartographer V4

Step 3 - Flashing the Firmware

Cartographer V3

You now need to plugin your Cartographer into your CAN network.

DO NOT HOT PLUG ANYTHING IN YOUR PRINTER, ENSURE IT IS POWERED OFF.

You now need to flash your CAN firmware to the probe, so navigate to the directory the firmware is located

cd ~/cartographer_firmware/firmware/v2-v3/survey/5.0.0/

You will now need to check that your probe can be recognised by your CAN network, to do this we will do a CAN query. You should see a device which has Katapult listed next to it. Note down the UUID it provides you.

~/klippy-env/bin/python ~/klipper/scripts/canbus_query.py can0    

Now, you will need to run the following command, replacing the UUID with what ever the UUID is for your probe.

python3 ~/katapult/scripts/flash_can.py -i can0 -f Survey_Cartographer_CAN_1000000_8kib_offset.bin -u UUID

Example

python3 ~/katapult/scripts/flash_can.py -i can0 -f Survey_Cartographer_CAN_1000000_8kib_offset.bin -u 379702c36ad1

Once complete, your probe will reboot into the Cartographer Firmware, and you can continue to use your probe as normal.

Cartographer V4

Switching to USB from CAN

To switch from CAN to USB, you will need to flash the Katapult Deployer Firmware to overwrite the existing bootloader and firmware to load it in USB mode.

Step 1 - Plug Cartographer in via CANBUS

Your Cartographer will already need to have CAN firmware on the probe, to change from USB to CAN, please follow Re-Flashing.

Step 2 - SSH into your printer

Step 3 - Get Your UUID

You will need to get your probes UUID, this should be in your printer.cfg if you have already setup the probe, it will either be under [mcu cartographer], [cartographer], or [scanner]

If you have not set it up already, search for the UUID either in the mainsail device finder menu, or by using the command ~/klippy-env/bin/python ~/klipper/scripts/canbus_query.py can0 (note, if the device is in your printer.cfg or similar, it will not find it.

Step 4 - Flash the Katapult Deployer

You now need to flash the Katapult Deployer USB Firmware

You will need to replace with your UUID found in step3.

Cartographer V3

Switch Cartographer V3 from CAN to USB

~/cartographer_firmware/firmware/v2-v3/katapult-deployer
python3 ~/katapult/scripts/flash_can.py -i can0 -f katapult-deployer-usb.bin -u <myuuid>

Cartographer V4

Step 5 - Switch to USB

Power down your printer, and re-connect your probe via USB.

Step 6 - Flash the Cartographer Firmware

Cartographer V3

Now your Cartographer is in Katapult Mode, you now need to navigate to the correct firmware to flash it.

Automatic Full V3 USB Firmware

KATAPULT=$(ls /dev/serial/by-id/ 2>/dev/null | grep -i katapult | head -n 1)
cd ~/cartographer_firmware/firmware/v2-v3/survey/5.0.0/
~/klippy-env/bin/python ~/klipper/lib/canboot/flash_can.py -f Survey_Cartographer_USB_8kib_offset.bin -d /dev/serial/by-id/$KATAPULT

Your probe should now have the latest Cartographer Firmware installed on it. This page will be updated to include the command for the latest version available for this probe

Manual - Full V3 USB Firmware

Navigate to the folder where your firmware is located, for the example I will be using, I will be updating a v2 probe.

Now, run the following command, replacing <firmware> with the firmware you are flashing, and <serial> with the serial ID and path.

~/klippy-env/bin/python ~/klipper/lib/canboot/flash_can.py -f <firmware> -d <serial>

Again, an example of a full command

~/klippy-env/bin/python ~/klipper/lib/canboot/flash_can.py -f Cartographer_USB_8kib_offset.bin -d /dev/serial/by-id/usb-katapult_stm32f042x6_060012001643565537353020-if00

If successful, you should have the following output.

If successful, you should have the following output.

Cartographer V4