Klipper Architecture / Ecosystem should already give you a basic idea how Klipper works.
Directly on the host (RPi) where Klipper is installed
First time flashing of a SKR1.4 is done by renaming the klipper.bin
to firmware.bin
and copying it to the SD card. Susequent updates can be done directly, e.g. via SDCard updates
There is no generic approach as different boards with different MCUs and different connection schemes, e.g. USB
, CAN
, USB to CAN Bridge
etc, will need different approaches.
Usually there is not much need to connect additional periphery to the GPIOs of the RPi and usually there are alternative solution. E.g. an accelrometer can either be directly connected to the GPIOs or alternatively following an approach like detailed in Raspberry Pi Pico + ADXL345: Portable resonance measurement for which also ready made hardware exists.