klipper-flash: support can bus flashing, support flashing avr mcus (#524434)

nixos/modules/services/misc/klipper.nix

@@ -40,11 +40,27 @@ let
         '';
         serial = lib.mkOption {
           type = lib.types.nullOr lib.types.path;
-          description = "Path to serial port this printer is connected to. Derived from `service.klipper.settings` by default.";
+          description = "Path to serial port this mcu is connected to. Derived from `service.klipper.settings` by default.";
           defaultText = lib.literalExpression "config.services.klipper.settings.<name>.serial";
           default =
             if lib.hasAttrByPath [ "${mcu}" "serial" ] cfg.settings then cfg.settings."${mcu}".serial else null;
         };
+        canbus_uuid = lib.mkOption {
+          type = lib.types.nullOr lib.types.str;
+          description = "CAN bus uuid of this mcu. Derived from `service.klipper.settings` by default.";
+          defaultText = lib.literalExpression "config.services.klipper.settings.<name>.canbus_uuid";
+          default =
+            if lib.hasAttrByPath [ "${mcu}" "canbus_uuid" ] cfg.settings then
+              cfg.settings."${mcu}".canbus_uuid
+            else
+              null;
+        };
+        canbusNetwork = lib.mkOption {
+          type = lib.types.nullOr lib.types.str;
+          description = "CAN bus network this mcu is connected to. Defaults to can0 if canbus_uuid is set.";
+          defaultText = lib.literalExpression ''if canbus_uuid != null then "can0" else null'';
+          default = if subcfg.canbus_uuid != null then "can0" else null;
+        };
         configFile = lib.mkOption {
           type = lib.types.path;
           description = "Path to firmware config which is generated using `klipper-genconf`";
@@ -78,6 +94,8 @@ let
               klipper-firmware = subcfg.package;
               mcu = lib.strings.sanitizeDerivationName mcu;
               flashDevice = subcfg.serial;
+              canbusDevice = subcfg.canbus_uuid;
+              canbusNetwork = subcfg.canbusNetwork;
               firmwareConfig = subcfg.configFile;
             }
           else
@@ -224,12 +242,15 @@ in
       }
     ]
     ++ lib.mapAttrsToList (mcu: firmware: {
-      assertion = firmware.enableKlipperFlash -> firmware.serial != null;
+      assertion =
+        firmware.enableKlipperFlash -> (firmware.serial != null || firmware.canbus_uuid != null);
       message = ''
-        Unable to determine the serial connection for services.klipper.firmwares."${mcu}". Please set one of the following:
+        Unable to determine the serial or canbus connection for services.klipper.firmwares."${mcu}". Please set one of the following:
 
           - services.klipper.firmwares."${mcu}".serial
+          - services.klipper.firmwares."${mcu}".canbus_uuid
           - services.klipper.settings."${mcu}".serial
+          - services.klipper.settings."${mcu}".canbus_uuid
       '';
     }) cfg.firmwares;
 
@@ -308,7 +329,6 @@ in
 
     environment.systemPackages =
       let
-        default = a: b: if a != null then a else b;
         genconf = pkgs.klipper-genconf.override {
           klipper = cfg.package;
         };

pkgs/servers/klipper/default.nix

@@ -90,6 +90,7 @@ stdenv.mkDerivation rec {
       p: with p; [
         numpy
         matplotlib
+        python-can
       ]
     )).interpreter;
 
@@ -109,8 +110,10 @@ stdenv.mkDerivation rec {
     # under `klipper_path`
     cp -r $src/docs $out/lib/docs
     cp -r $src/config $out/lib/config
-    cp -r $src/scripts $out/lib/scripts
     cp -r $src/klippy $out/lib/klippy
+    mkdir -p $out/lib/scripts
+    cp -r $src/scripts/* $out/lib/scripts
+    cp $src/lib/katapult/flashtool.py $out/lib/scripts/flash_can.py
 
     # Add version information. For the normal procedure see https://www.klipper3d.org/Packaging.html#versioning
     # This is done like this because scripts/make_version.py is not available when sourceRoot is set to "${src.name}/klippy"
@@ -125,6 +128,11 @@ stdenv.mkDerivation rec {
       --subst-var-by "script" "calibrate_shaper.py"
     chmod 755 "$out/bin/klipper-calibrate-shaper"
 
+    substitute "$pythonScriptWrapper" "$out/bin/klipper-canbus-query" \
+      --subst-var "out" \
+      --subst-var-by "script" "canbus_query.py"
+    chmod 755 "$out/bin/klipper-canbus-query"
+
     runHook postInstall
   '';
 

pkgs/servers/klipper/klipper-firmware.nix

@@ -72,6 +72,7 @@ stdenv.mkDerivation {
     cp ./.config $out/config
     cp out/klipper.bin $out/ || true
     cp out/klipper.elf $out/ || true
+    cp out/klipper.elf.hex $out/ || true
     cp out/klipper.uf2 $out/ || true
 
     mkdir -p $out/lib/
@@ -95,7 +96,11 @@ stdenv.mkDerivation {
 
   passthru = {
     makeFlasher =
-      { flashDevice }:
+      {
+        flashDevice ? null,
+        canbusNetwork ? null,
+        canbusDevice ? null,
+      }:
       klipper-flash.override {
         klipper-firmware = klipper-firmware.override args;
         inherit
@@ -103,6 +108,8 @@ stdenv.mkDerivation {
           firmwareConfig
           mcu
           flashDevice
+          canbusNetwork
+          canbusDevice
           ;
       };
   };

pkgs/servers/klipper/klipper-flash.nix

@@ -7,7 +7,9 @@
   dfu-util,
   stm32flash,
   mcu ? "mcu",
-  flashDevice ? "/dev/null",
+  flashDevice ? null,
+  canbusNetwork ? null,
+  canbusDevice ? null,
   firmwareConfig ? ./simulator.cfg,
 }:
 let
@@ -20,34 +22,66 @@ let
     if matches != null then head matches else null;
   matchPlatform = getConfigField "CONFIG_BOARD_DIRECTORY";
   matchBoard = getConfigField "CONFIG_MCU";
+  matchAvrdudeProtocol = getConfigField "CONFIG_AVRDUDE_PROTOCOL";
+  flashUsbSupportedBoards = [
+    "sam3"
+    "sam4"
+    "same70"
+    "samd"
+    "same5"
+    "lpc176"
+    "stm32f103"
+    "stm32f4"
+    "stm32f042"
+    "stm32f070"
+    "stm32f072"
+    "stm32g0b1"
+    "stm32f7"
+    "stm32h7"
+    "stm32l4"
+    "stm32g4"
+    "rp2"
+  ];
 in
+assert lib.assertMsg (
+  (flashDevice != null) != (canbusNetwork != null && canbusDevice != null)
+  && ((canbusNetwork != null) == (canbusDevice != null))
+) "Either set flashDevice or both canbusNetwork and canbusDevice";
 writeShellApplication {
   name = "klipper-flash-${mcu}";
   runtimeInputs =
     [ ]
-    ++ lib.optionals (matchPlatform == "avr") [ avrdude ]
-    ++ lib.optionals (matchPlatform == "stm32") [
-      stm32flash
-      dfu-util
-    ]
-    ++ lib.optionals (matchPlatform == "lpc176x") [ dfu-util ]
-  # bossac, hid-flash and RP2040 flash binaries are built by klipper-firmware
-  ;
+    ++ lib.optionals (flashDevice != null) (
+      lib.optionals (matchPlatform == "avr") [ avrdude ]
+      ++ lib.optionals (matchPlatform == "stm32") [
+        stm32flash
+        dfu-util
+      ]
+      ++ lib.optionals (matchPlatform == "lpc176x") [ dfu-util ]
+      # bossac, hid-flash and RP2040 flash binaries are built by klipper-firmware
+    );
   text =
     # generic USB script for most things with serial and bootloader (see MCU_TYPES in scripts/flash_usb.py)
-    if matchBoard != null && matchPlatform != null then
-      ''
-        pushd ${klipper-firmware}
-        ${klipper}/lib/scripts/flash_usb.py -t ${matchBoard} -d ${flashDevice} ${klipper-firmware}/klipper.bin "$@"
-        popd
-      ''
+    if flashDevice != null then
+      if (builtins.elem matchBoard flashUsbSupportedBoards) && matchPlatform != null then
+        ''
+          ${klipper}/lib/scripts/flash_usb.py -t ${matchBoard} -d ${flashDevice} ${klipper-firmware}/klipper.bin "$@"
+        ''
+      else if matchPlatform == "avr" && matchAvrdudeProtocol != null && matchBoard != null then
+        ''
+          avrdude -p${matchBoard} -c${matchAvrdudeProtocol} -P"${flashDevice}" -D -U"flash:w:${klipper-firmware}/klipper.elf.hex:i"
+        ''
+      else
+        ''
+          cat <<EOF
+          Board pair ${toString matchBoard}/${toString matchPlatform} (config ${firmwareConfig}) is not supported in NixOS auto flashing script.
+          Please manually flash the firmware using the appropriate tool for your board.
+          Built firmware is located here:
+          ${klipper-firmware}
+          EOF
+        ''
     else
       ''
-        cat <<EOF
-        Board pair ${toString matchBoard}/${toString matchPlatform} (config ${firmwareConfig}) is not supported in NixOS auto flashing script.
-        Please manually flash the firmware using the appropriate tool for your board.
-        Built firmware is located here:
-        ${klipper-firmware}
-        EOF
+        ${klipper}/lib/scripts/flash_can.py -i ${canbusNetwork} -f ${klipper-firmware}/klipper.bin -u ${canbusDevice} "$@"
       '';
 }

pkgs/top-level/all-packages.nix

@@ -1772,7 +1772,7 @@ with pkgs;
 
   klipper-firmware = callPackage ../servers/klipper/klipper-firmware.nix { };
 
-  klipper-flash = callPackage ../servers/klipper/klipper-flash.nix { };
+  klipper-flash = callPackage ../servers/klipper/klipper-flash.nix { flashDevice = "/dev/null"; };
 
   klipper-genconf = callPackage ../servers/klipper/klipper-genconf.nix { };