Printer Model: Voron 0.2
MCU / Printerboard: BTT Pi v1.2 + BTT SKR Pico
I’m having trouble getting my SKR Pico to work with klipper.
Firmware is compiled as advised ( github → bigtreetech/SKR-Pico/tree/master/Klipper && SKR Pico Klipper Firmware | Voron Documentation):
[*] Enable extra low-level configuration options
Micro-controller Architecture = Raspberry Pi RP2040
Communication interface = USB
Device pops up in serial so far everything seems ok.
Via Mainsail, printer.cfg is a copy of https://github.com/VoronDesign/Voron-0/blob/Voron0.2r1/Firmware/bigtreetech-skr-pico-v1.0.cfg + edits for the motor currents and sensors.
It contains this part where gpio3 is set for the diag_pin.
[stepper_y]
step_pin: gpio6
## Refer to <snip>docs.vorondesign.com/build/startup/#v0
dir_pin: gpio5 # Check motor direction in link above. If inverted, add a ! before gpio5
enable_pin: !gpio7
rotation_distance: 40
microsteps: 32
full_steps_per_rotation: 200 # Set to 400 for 0.9° degree stepper motor, 200 is for 1.8° stepper motors
endstop_pin: tmc2209_stepper_y:virtual_endstop
position_endstop: 120
position_max: 120
homing_speed: 20 # for sensorless homing it is recommended not to go above 40mm/s
homing_retract_dist: 0
homing_positive_dir: true
[tmc2209 stepper_y]
uart_pin: gpio9
tx_pin: gpio8
uart_address: 2
interpolate: False
run_current: 1.0
# you need to calculate the run_current value using the equation (rated_motor_current * 0.707 = Maximum_run_current) start with a value that is about 60%-70% of your maximum value.
sense_resistor: 0.110
stealthchop_threshold: 0 # Set to 999999 to turn stealthchop on, and 0 to use spreadcycle
diag_pin: ^gpio3 # YOU NEED TO JUMP THIS DIAG PIN ON YOUR BOARD FOR SENSORLESS HOMING TO WORK
driver_SGTHRS: 255
klippy.log contains:
mcu 'mcu': Starting serial connect
webhooks client 281473193290576: New connection
webhooks client 281473193290576: Client info {'program': 'Moonraker', 'version': 'v0.8.0-92-g504a3a7'}
mcu 'mcu': got {'count': 348, 'sum': 37474, 'sumsq': 38153, '#name': 'stats', '#sent_time': 181.332097835, '#receive_time': 181.348853252}
Loaded MCU 'mcu' 112 commands (v0.11.0-275-g8ef0f7d7 / gcc: (15:8-2019-q3-1+b1) 8.3.1 20190703 (release) [gcc-8-branch revision 273027] binutils: (2.35.2-2+14+b2) 2.35.2)
MCU 'mcu' config: ADC_MAX=4095 BUS_PINS_i2c0a=gpio0,gpio1 BUS_PINS_i2c0b=gpio4,gpio5 BUS_PINS_i2c0c=gpio8,gpio9 BUS_PINS_i2c0d=gpio12,gpio13 BUS_PINS_i2c0e=gpio16,gpio17 BUS_PINS_i2c0f=gpio20,gpio21 BUS_PINS_i2c0g=gpio24,gpio25 BUS_PINS_i2c0h=gpio28,gpio29 BUS_PINS_i2c1a=gpio2,gpio3 BUS_PINS_i2c1b=gpio6,gpio7 BUS_PINS_i2c1c=gpio10,gpio11 BUS_PINS_i2c1d=gpio14,gpio15 BUS_PINS_i2c1e=gpio18,gpio19 BUS_PINS_i2c1f=gpio22,gpio23 BUS_PINS_i2c1g=gpio26,gpio27 BUS_PINS_spi0a=gpio0,gpio3,gpio2 BUS_PINS_spi0b=gpio4,gpio7,gpio6 BUS_PINS_spi0c=gpio16,gpio19,gpio18 BUS_PINS_spi0d=gpio20,gpio23,gpio22 BUS_PINS_spi1a=gpio8,gpio11,gpio10 BUS_PINS_spi1b=gpio12,gpio15,gpio14 BUS_PINS_spi1c=gpio24,gpio27,gpio26 CLOCK_FREQ=12000000 MCU=rp2040 PWM_MAX=255 STATS_SUMSQ_BASE=256 STEPPER_BOTH_EDGE=1
mcu 'CB1': Starting connect
mcu 'CB1': got {'count': 133, 'sum': 153513, 'sumsq': 981359, '#name': 'stats', '#sent_time': 181.959230794, '#receive_time': 181.997795586}
Loaded MCU 'CB1' 113 commands (v0.11.0-241-gffb5105b / gcc: (Debian 10.2.1-6) 10.2.1 20210110 binutils: (GNU Binutils for Debian) 2.35.2)
MCU 'CB1' config: ADC_MAX=4095 CLOCK_FREQ=50000000 MCU=linux PCA9685_MAX=4096 PWM_MAX=32768 STATS_SUMSQ_BASE=256
Config error
Traceback (most recent call last):
File "/home/biqu/klipper/klippy/klippy.py", line 180, in _connect
cb()
File "/home/biqu/klipper/klippy/mcu.py", line 753, in _connect
self._send_config(None)
File "/home/biqu/klipper/klippy/mcu.py", line 692, in _send_config
cmdlist[i] = pin_resolver.update_command(cmd)
File "/home/biqu/klipper/klippy/pins.py", line 53, in update_command
return re_pin.sub(pin_fixup, cmd)
File "/home/biqu/klipper/klippy/pins.py", line 50, in pin_fixup
raise error("pin %s is reserved for %s" % (
pins.error: pin gpio3 is reserved for spi0a
Is there something I’m overlooking here?
