OrangePi Zero 3安装Klipper

刷入官方Debian系统

优选Linux6.1内核版本的镜像，支持CAN网络，Linux5.4内核版本不支持CAN网络！

可以使用以下命令检查系统内核是否支持CAN网络：^[1]

sudo modprobe can && echo "您的内核支持CAN" || echo "您的内核不支持CAN"

使用balenaEtcher软件刷入Debian官方镜像。

连接WIFI

扫描WIFI：

nmcli dev wifi

连接WIFI：

sudo nmcli dev wifi connect wifi_name password wifi_passwd

wifi_name: WIFI名称
wifi_passwd: WIFI密码

连接成功后，查看WIFI的IP地址：

ip addr show wlan0

安装所需软件

sudo apt install git

sudo apt install python3

sudo apt install python3-pip

更换软件源

系统源：
橘子🍊官方已将系统默认apt源换成华为的镜像源，所以无需再操作。

查看pip源：

pip3 config list

以下是国内pip源地址，按需替换即可：
阿里云：http://mirrors.aliyun.com/pypi/simple/
清华大学：https://pypi.tuna.tsinghua.edu.cn/simple/
中国科技大学：https://pypi.mirrors.ustc.edu.cn/simple/

示例更换pip3为阿里云的源，依次执行以下命令：

pip3 config set global.index-url https://mirrors.aliyun.com/pypi/simple

pip3 config set install.trusted-host mirrors.aliyun.com

挂载临时代理

将电脑上运行的Clash软件在设置里开启局域网连接，查看电脑的IP和端口，然后替换下面命令中的x和y部分：

export http_proxy=http://x:y

export https_proxy=http://x:y

使用KIAUH脚本安装Klipper

克隆KIAUH官方仓库：

git clone https://github.com/dw-0/kiauh.git

运行KIAUH脚本：

./kiauh/kiauh.sh

安装组件：Klipper、Moonraker、Web

运行脚本可能会出现以下界面，询问是否体验KIAUH v6测试版，测试版包含了一些新功能；我们使用稳定版操作，输入2回车。

KIAUH脚本主界面：

安装核心必备组件：Klipper、Moonraker，而网页界面：Mainsail / Fluidd，任选其一安装即可：

给OrangePi刷入Klipper固件

依次执行以下命令：^[2]

cd ~/klipper/

sudo cp ./scripts/klipper-mcu.service /etc/systemd/system/

sudo systemctl enable klipper-mcu.service

make menuconfig

sudo service klipper stop

make flash

sudo service klipper start

执行完以上操作后，重启上位机，登录SSH，查看是否有本地串口：

cd /tmp

ls

此时可能会没有显示本地串口，如下图：

接下来查看klipper-mcu的运行状态：

systemctl status klipper-mcu.service

我遇到的情况是使用以下命令进行修复的，仅供参考：^{[3] [4]}

sudo sysctl -w kernel.sched_rt_runtime_us=-1
echo "kernel.sched_rt_runtime_us = -1" | sudo tee /etc/sysctl.d/10-disable-rt-group-limit.conf

编写OrangePi配置文件

此配置文件配合我给OrangePi Zero3画的Hub板进行使用，仅供参考：

# This file contains an example configuration with RPi as secondary mcu

# See docs/Config_Reference.md for a description of parameters.

# The rpi microcontroller is used as secondary.
# Typically, both the X and Y axes
# are connected to the main micro-controller. The rpi microcontroller is used
# on non time-critical functions such as enclosure sensors, additional fan or
# light sources

# See More :
# https://www.klipper3d.org/RPi_microcontroller.html
# http://www.orangepi.cn/orangepiwiki/index.php/Orange_Pi_Zero_3

[mcu host]
serial: /tmp/klipper_host_mcu

#[temperature_sensor SOC_Temp]
#sensor_type: temperature_host
#min_temp: 0
#max_temp: 80

[virtual_sdcard]
path: /home/orangepi/printer_data/gcodes
on_error_gcode: CANCEL_PRINT

#####################################################################
#   Orange Pi Cooling Fan
#####################################################################

[temperature_fan orange_pi_soc_fan]
pin: host:gpiochip1/gpio75
#max_power:
#shutdown_speed: 1.0
#cycle_time:
#hardware_pwm:
#kick_start_time:
#off_below:
#tachometer_pin:
#tachometer_ppr:
#tachometer_poll_interval:
#enable_pin:
#   See the "fan" section for a description of the above parameters.
sensor_type: temperature_host
#sensor_pin:
control: watermark
#max_delta:
min_temp: 0
max_temp: 80
#   See the "extruder" section for a description of the above parameters.
#pid_Kp:
#pid_Ki:
#pid_Kd:
#   The proportional (pid_Kp), integral (pid_Ki), and derivative
#   (pid_Kd) settings for the PID feedback control system. Klipper
#   evaluates the PID settings with the following general formula:
#     fan_pwm = max_power - (Kp*e + Ki*integral(e) - Kd*derivative(e)) / 255
#   Where "e" is "target_temperature - measured_temperature" and
#   "fan_pwm" is the requested fan rate with 0.0 being full off and
#   1.0 being full on. The pid_Kp, pid_Ki, and pid_Kd parameters must
#   be provided when the PID control algorithm is enabled.
#pid_deriv_time: 2.0
#   A time value (in seconds) over which temperature measurements will
#   be smoothed when using the PID control algorithm. This may reduce
#   the impact of measurement noise. The default is 2 seconds.
target_temp: 40
#   A temperature (in Celsius) that will be the target temperature.
#   The default is 40 degrees.
#max_speed: 1.0
#   The fan speed (expressed as a value from 0.0 to 1.0) that the fan
#   will be set to when the sensor temperature exceeds the set value.
#   The default is 1.0.
#min_speed: 0.3
#   The minimum fan speed (expressed as a value from 0.0 to 1.0) that
#   the fan will be set to for PID temperature fans.
#   The default is 0.3.
#gcode_id:
#   If set, the temperature will be reported in M105 queries using the
#   given id. The default is to not report the temperature via M105.

#####################################################################
# Electrical Warehouse Cooling Fan
#####################################################################

[temperature_fan left_cooling_fan]
pin: host:gpiochip1/gpio70
#max_power:
#shutdown_speed:
#cycle_time:
#hardware_pwm:
#kick_start_time:
#off_below:
#tachometer_pin:
#tachometer_ppr:
#tachometer_poll_interval:
#enable_pin:
#   See the "fan" section for a description of the above parameters.
sensor_type: temperature_host
#sensor_pin:
control: watermark
#max_delta:
min_temp: 0
max_temp: 80
#   See the "extruder" section for a description of the above parameters.
#pid_Kp:
#pid_Ki:
#pid_Kd:
#   The proportional (pid_Kp), integral (pid_Ki), and derivative
#   (pid_Kd) settings for the PID feedback control system. Klipper
#   evaluates the PID settings with the following general formula:
#     fan_pwm = max_power - (Kp*e + Ki*integral(e) - Kd*derivative(e)) / 255
#   Where "e" is "target_temperature - measured_temperature" and
#   "fan_pwm" is the requested fan rate with 0.0 being full off and
#   1.0 being full on. The pid_Kp, pid_Ki, and pid_Kd parameters must
#   be provided when the PID control algorithm is enabled.
#pid_deriv_time: 2.0
#   A time value (in seconds) over which temperature measurements will
#   be smoothed when using the PID control algorithm. This may reduce
#   the impact of measurement noise. The default is 2 seconds.
target_temp: 40
#   A temperature (in Celsius) that will be the target temperature.
#   The default is 40 degrees.
#max_speed: 1.0
#   The fan speed (expressed as a value from 0.0 to 1.0) that the fan
#   will be set to when the sensor temperature exceeds the set value.
#   The default is 1.0.
#min_speed: 0.3
#   The minimum fan speed (expressed as a value from 0.0 to 1.0) that
#   the fan will be set to for PID temperature fans.
#   The default is 0.3.
#gcode_id:
#   If set, the temperature will be reported in M105 queries using the
#   given id. The default is to not report the temperature via M105.

#[controller_fan cooling_fan_left]
#pin: host:gpiochip1/gpio70
#max_power:
#shutdown_speed:
#cycle_time:
#hardware_pwm:
#kick_start_time:
#off_below:
#tachometer_pin:
#tachometer_ppr:
#tachometer_poll_interval:
#enable_pin:
#   See the "fan" section for a description of the above parameters.
#fan_speed: 1.0
#   The fan speed (expressed as a value from 0.0 to 1.0) that the fan
#   will be set to when a heater or stepper driver is active.
#   The default is 1.0
#idle_timeout:
#   The amount of time (in seconds) after a stepper driver or heater
#   was active and the fan should be kept running. The default
#   is 30 seconds.
#idle_speed:
#   The fan speed (expressed as a value from 0.0 to 1.0) that the fan
#   will be set to when a heater or stepper driver was active and
#   before the idle_timeout is reached. The default is fan_speed.
#heater: heater_bed
#stepper:
#   Name of the config section defining the heater/stepper that this fan
#   is associated with. If a comma separated list of heater/stepper names
#   is provided here, then the fan will be enabled when any of the given
#   heaters/steppers are enabled. The default heater is "extruder", the
#   default stepper is all of them.

[temperature_fan right_cooling_fan]
pin: host:gpiochip1/gpio73
#max_power:
#shutdown_speed:
#cycle_time:
#hardware_pwm:
#kick_start_time:
#off_below:
#tachometer_pin:
#tachometer_ppr:
#tachometer_poll_interval:
#enable_pin:
#   See the "fan" section for a description of the above parameters.
sensor_type: temperature_host
#sensor_pin:
control: watermark
#max_delta:
min_temp: 0
max_temp: 80
#   See the "extruder" section for a description of the above parameters.
#pid_Kp:
#pid_Ki:
#pid_Kd:
#   The proportional (pid_Kp), integral (pid_Ki), and derivative
#   (pid_Kd) settings for the PID feedback control system. Klipper
#   evaluates the PID settings with the following general formula:
#     fan_pwm = max_power - (Kp*e + Ki*integral(e) - Kd*derivative(e)) / 255
#   Where "e" is "target_temperature - measured_temperature" and
#   "fan_pwm" is the requested fan rate with 0.0 being full off and
#   1.0 being full on. The pid_Kp, pid_Ki, and pid_Kd parameters must
#   be provided when the PID control algorithm is enabled.
#pid_deriv_time: 2.0
#   A time value (in seconds) over which temperature measurements will
#   be smoothed when using the PID control algorithm. This may reduce
#   the impact of measurement noise. The default is 2 seconds.
target_temp: 40
#   A temperature (in Celsius) that will be the target temperature.
#   The default is 40 degrees.
#max_speed: 1.0
#   The fan speed (expressed as a value from 0.0 to 1.0) that the fan
#   will be set to when the sensor temperature exceeds the set value.
#   The default is 1.0.
#min_speed: 0.3
#   The minimum fan speed (expressed as a value from 0.0 to 1.0) that
#   the fan will be set to for PID temperature fans.
#   The default is 0.3.
#gcode_id:
#   If set, the temperature will be reported in M105 queries using the
#   given id. The default is to not report the temperature via M105.

#[controller_fan cooling_fan_right]
#pin: host:gpiochip1/gpio73
#max_power:
#shutdown_speed:
#cycle_time:
#hardware_pwm:
#kick_start_time:
#off_below:
#tachometer_pin:
#tachometer_ppr:
#tachometer_poll_interval:
#enable_pin:
#   See the "fan" section for a description of the above parameters.
#fan_speed: 1.0
#   The fan speed (expressed as a value from 0.0 to 1.0) that the fan
#   will be set to when a heater or stepper driver is active.
#   The default is 1.0
#idle_timeout:
#   The amount of time (in seconds) after a stepper driver or heater
#   was active and the fan should be kept running. The default
#   is 30 seconds.
#idle_speed:
#   The fan speed (expressed as a value from 0.0 to 1.0) that the fan
#   will be set to when a heater or stepper driver was active and
#   before the idle_timeout is reached. The default is fan_speed.
#heater: heater_bed
#stepper:
#   Name of the config section defining the heater/stepper that this fan
#   is associated with. If a comma separated list of heater/stepper names
#   is provided here, then the fan will be enabled when any of the given
#   heaters/steppers are enabled. The default heater is "extruder", the
#   default stepper is all of them.

#####################################################################
#   HTU21D sensor
#####################################################################

# See more :
# http://www.orangepi.cn/orangepiwiki/index.php/Orange_Pi_Zero_3#26pin_I2C.E6.B5.8B.E8.AF.95
# https://www.klipper3d.org/Config_Reference.html?h=htu#htu21d-sensor
# https://github.com/Klipper3d/klipper/blob/master/config/sample-macros.cfg
[temperature_sensor electrical_warehouse]
sensor_type: HTU21D
#   Must be "HTU21D" , "SI7013", "SI7020", "SI7021" or "SHT21"
#i2c_address:
#   Default is 64 (0x40).
i2c_mcu: host
i2c_bus: i2c.3
#i2c_software_scl_pin: host:i2c1/gpio228
#i2c_software_sda_pin: host:i2c1/gpio229
#i2c_speed:
#   See the "common I2C settings" section for a description of the
#   above parameters.
#htu21d_hold_master: True
#   If the sensor can hold the I2C buf while reading. If True no other
#   bus communication can be performed while reading is in progress.
#   Default is False.
#htu21d_resolution:
#   The resolution of temperature and humidity reading.
#   Valid values are:
#    'TEMP14_HUM12' -> 14bit for Temp and 12bit for humidity
#    'TEMP13_HUM10' -> 13bit for Temp and 10bit for humidity
#    'TEMP12_HUM08' -> 12bit for Temp and 08bit for humidity
#    'TEMP11_HUM11' -> 11bit for Temp and 11bit for humidity
#   Default is: "TEMP11_HUM11"
htu21d_report_time: 60
#   Interval in seconds between readings. Default is 30

[gcode_macro Electrical_Warehouse_State]
gcode:
    {% set sensor = printer["htu21d electrical_warehouse"] %}
    {action_respond_info(
        "Temperature: %.2f°C\n"
        "Humidity: %.2f%%" % (
            sensor.temperature,
            sensor.humidity))}

#####################################################################
#   Case Lights
#####################################################################
#[output_pin Case_Lights]
#pin: host:gpiochip1/gpio73
#value: 0
#shutdown_value: 0

#[gcode_macro lights_on]
#gcode:
#    SET_PIN PIN=Case_Lights VALUE=1.0

#[gcode_macro lights_off]
#gcode:
#    SET_PIN PIN=Case_Lights VALUE=0.0

修改系统时区

默认时区是UTC，可以修改时区为亚洲：

date

sudo timedatectl set-timezone Asia/Shanghai

date

特别鸣谢

1. CAN问题合集 ↩
2. RPi microcontroller ↩
3. Can’t start a Linux host mcu on Orangepi zero 3 ↩
4. Armbian kernel & Klipper host mcu: “Got error -1 in sched_setschedule” ↩