Ouroboros Klipper Firmware Setup

This guide covers installing the TMC4671 plugin on your Klipper 3D printer, and firmware flashing of Ouroboros.

Turn on your 3D printer and SSH into it.

Install andrewmcgr's TMC4671 Klipper Plugin using:

wget -O - https://raw.githubusercontent.com/andrewmcgr/tmc-4671/main/install.sh | bash

Do not close your SSH terminal yet, open your web browser and go to your 3D printer's interface (like Mainsail).

Edit your moonraker.conf file. Add this:

[update_manager tmc-4671]
type: git_repo
channel: dev
path: ~/tmc-4671
origin: https://github.com/andrewmcgr/tmc-4671.git
managed_services: klipper
primary_branch: main
install_script: install.sh

On your SSH terminal, go to the Klipper directory (cd ~/Klipper), clean previous build files (make clean), and configure Klipper for Ouroboros (make menuconfig). Use these settings:

[*] Enable extra low-level configuration options
    Micro-controller Architecture (STMicroelectronics STM32)  --->
    Processor model (STM32H723)  --->
    Bootloader offset (No bootloader)  --->
    Clock Reference (25 MHz crystal)  --->
    Communication interface (USB (on PA11/PA12))  --->
    USB ids  --->
[ ] Optimize stepper code for 'step on both edges'
()  GPIO pins to set at micro-controller startup

Press Q. If prompted to save, press Y.
On your Ouroboros, press and hold the BOOT button. While holding it down, press and release the RESET button, then release the BOOT button.
Flash firmware to your Ouroboros using make flash FLASH_DEVICE=0483:df11.
To find the serial address of your Ouroboros using ls /dev/serial/by-id/*. It'll show up as a STM32H723 device. If you don't see it, press and release the RESET button on your Ouroboros and try again.
Open your printer.cfg file. In it:
1. Add:
```
[mcu ouroboros]
serial: 
```
  Make sure to add your Ouroboros's serial address to above.
2. Find your existing [tmc2209], [tmc2660], [tmc2240] or similar sections for stepper_x and stepper_y, and delete or comment them.
3. Find your existing [stepper_x] and [stepper_y] sections. Edit them with:
  1. Edit your full_steps_per_rotation and microsteps values. Both must be powers of two, and their product must be less than 65536. 4096 steps and 2 microsteps are good starting values.
  2. Edit the step_pin, dir_pin, enable_pin values. Use these:
    
    Motor Step Dir Enable Endstop*
    
    X ouroboros:PD4 ouroboros:PD3 ouroboros:PD6 ^ouroboros:PD7
    
    Y ouroboros:PC12 ouroboros:PC11 ouroboros:PD1 ^ouroboros:PB3
    
    Using Existing Physical Endstop Setup
    
    You only need to edit your endstop_pin setting if you are using the endstop connector on your Ouroboros. You don't need to edit your existing endstop_pin setting if you were already using physical endstop switches wired to boards you're not planning to remove. For example, if your X endstop switch is connected to your toolhead board, you can keep it connected there and use your existing setting for that pin.
  3. Keep your existing rotation_distance, homing_speed, homing_retract_dist, position_min, position_max, position_endstop and any other parameters not covered here as-is.
4. Add these lines to enable OTP (over temperature protection):
```
[temperature_sensor Ouroboros_MCU_Temp]
sensor_type: temperature_mcu
sensor_mcu: ouroboros
min_temp: 0
max_temp: 80

[temperature_sensor Ouroboros_TMC1_MOS_Temp]
sensor_type: Generic 3950
sensor_pin: ouroboros:PC4
pullup_resistor: 4700
min_temp: 0
max_temp: 100

[temperature_sensor Ouroboros_TMC2_MOS_Temp]
sensor_type: Generic 3950
sensor_pin: ouroboros:PC5
pullup_resistor: 4700
min_temp: 0
max_temp: 100
```
5. Add these lines to enable FORCE_MOVE:
```
[force_move]
enable_force_move: True
```
Move on to your motor type's (stepper/BLDC) setup document.

(BLDC docs are coming soon)

Motor	Step	Dir	Enable	Endstop*
X	ouroboros:PD4	ouroboros:PD3	ouroboros:PD6	^ouroboros:PD7
Y	ouroboros:PC12	ouroboros:PC11	ouroboros:PD1	^ouroboros:PB3