HowTo Setup and Flash Klipper on Anet ET4/Pro/X

• RaspberryPi
• ST-Link V2

• for the ease of sake, get the MainSailOS Raspberry Pi image
• Flash it to the SD, for example with the Raspberry Pi Imager
• boot raspberry
• connect to http://mainsail.local or the http://ip address of your pi and access the mainsail website
• update everything

• in machine → config files add printer.cfg and open it
• paste:

• printer.cfg

  # This file contains common pin mappings for the Anet ET4 printer for klipper.
   
  [stepper_x]
  step_pin: PB6
  dir_pin: !PB5
  enable_pin: !PB7
  rotation_distance: 40
  microsteps: 16
  endstop_pin: ^!PC13
  position_min: -3
  position_endstop: -3
  position_max: 220
  homing_speed: 50
   
  [stepper_y]
  step_pin: PB3
  dir_pin: PD6
  enable_pin: !PB4
  rotation_distance: 40
  microsteps: 16
  endstop_pin: ^!PE12
  position_min: -8
  position_endstop: -8
  position_max: 220
  homing_speed: 50
   
  [stepper_z]
  step_pin: PA12
  dir_pin: !PA11
  enable_pin: !PA15
  rotation_distance: 8
  microsteps: 16
  endstop_pin: ^!PE11
  position_endstop: 250
  position_max: 250
  homing_speed: 12
  second_homing_speed: 5
   
  [extruder]
  step_pin: PB9
  dir_pin: PB8
  enable_pin: !PE0
  full_steps_per_rotation: 200
  gear_ratio: 3:1
  rotation_distance: 23.132
  microsteps: 16
  nozzle_diameter: 0.400
  filament_diameter: 1.750
  heater_pin: PA0 # END_CONTROL
  sensor_pin:  PA1 # TEMP_EXB1
  sensor_type: EPCOS 100K B57560G104F
  control: pid
  pid_Kp: 20.375
  pid_Ki: 0.844
  pid_Kd: 123.016
  min_temp: 0
  max_temp: 250
   
  [heater_bed]
  heater_pin: PE2 # BED_CONTROL
  sensor_pin: PA4 # TEMP_BED
  sensor_type: EPCOS 100K B57560G104F
  control: pid
  pid_Kp: 70.721
  pid_Ki: 1.981
  pid_Kd: 631.118
  min_temp: 0
  max_temp: 125
   
  [fan]
  pin: PE3 # LAY_FAN
   
  [heater_fan fan1]
  pin: PE1 # END_FAN
   
  [mcu]
  baud: 115200
  serial: /dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0
  restart_method: command
   
  [printer]
  kinematics: cartesian
  max_velocity: 500
  max_accel: 3000
  max_z_velocity: 12
  max_z_accel: 50
   
  [pause_resume]
   
  [filament_switch_sensor filament_sensor]
  switch_pin: PA2 # MAT_DET
  pause_on_runout: True
   
  # The printer ships without a probe, but the wiring loom is
  # already prepared for one
   
  [probe]
  pin: !PC3 # LV_DET
  z_offset: 0.2
   
  ########################################
  # EXP1 / EXP2 (display) pins
  ########################################
   
  [board_pins]
  aliases:
  #   P1 header
      P1_1=PD7, P1_3=PB2, P1_5=PE4, P1_7=PB1, P1_9=<GND>,
      P1_2=PD5, P1_4=PE5, P1_6=PB0, P1_8=PD4, P1_10=<3V3>,
  #   P2 header
      P2_1= PE6, P2_3=PD15, P2_5=PD1, P2_7=PE8, P2_9=PE10,
      P2_2=PD13, P2_4=PD14, P2_6=PD0, P2_8=PE7, P2_10=PE9
   
  [virtual_sdcard]
  path: /home/pi/gcode_files
   
  [pause_resume]
   
  [display_status]
   
  [screws_tilt_adjust]
  screw1: 10, 10
  screw1_name: front left screw
  screw2: 10, 210
  screw2_name: rear left screw
  screw3: 210, 210
  screw3_name: rear right screw
  screw4: 210, 10
  screw4_name: front right screw
  horizontal_move_z: 10.
  speed: 50.
  screw_thread: CW-M3
   
  [gcode_macro CANCEL_PRINT]
  rename_existing: BASE_CANCEL_PRINT
  gcode:
      TURN_OFF_HEATERS
      CLEAR_PAUSE
      SDCARD_RESET_FILE
      BASE_CANCEL_PRINT
   
  [gcode_macro PAUSE]
  rename_existing: BASE_PAUSE
  # change this if you need more or less extrusion
  variable_extrude: 1.0
  gcode:
      ##### read E from pause macro #####
      {% set E = printer["gcode_macro PAUSE"].extrude|float %}
      ##### set park positon for x and y #####
      # default is your max posion from your printer.cfg
      {% set x_park = printer.toolhead.axis_maximum.x|float - 5.0 %}
      {% set y_park = printer.toolhead.axis_maximum.y|float - 5.0 %}
      ##### calculate save lift position #####
      {% set max_z = printer.toolhead.axis_maximum.z|float %}
      {% set act_z = printer.toolhead.position.z|float %}
      {% if act_z < (max_z - 2.0) %}
          {% set z_safe = 2.0 %}
      {% else %}
          {% set z_safe = max_z - act_z %}
      {% endif %}
      ##### end of definitions #####
      SAVE_GCODE_STATE NAME=PAUSE_state
      BASE_PAUSE
      G91
      G1 E-{E} F2100
      G1 Z{z_safe} F900
      G90
      G1 X{x_park} Y{y_park} F6000
   
  [gcode_macro RESUME]
  rename_existing: BASE_RESUME
  gcode:
      ##### read E from pause macro #####
      {% set E = printer["gcode_macro PAUSE"].extrude|float %}
      ##### end of definitions #####
      G91
      G1 E{E} F2100
      RESTORE_GCODE_STATE NAME=PAUSE_state
      BASE_RESUME

(based on PHeNNeT FiLM)

• save & close

• note: i wasnt able to make this with openblt work, but i will update if i find a way
• ssh into raspberry (use MobaXterm, it has an inbuild sftp client to pull the firmware)

• cd klipper
  make menuconfig

• choose settings:

• [*] Enable extra low-level configuration options
  Micro-controller Architecture (STMicroelectronics STM32)
  Processor model (STM32F407)
  Bootloader offset (No bootloader)  --->
  Clock Reference (8 MHz crystal)  --->
  Communication interface (Serial (on USART1 PA10/PA9))  --->
  (112500) Baud rate for serial port
  ()  GPIO pins to set at micro-controller startup

• type Q to exit, verify with Y

• make

• after its finished copy firmware.bin from /home/pi/klipper/out/ to your pc (via MobaXterm, Filezilla(port 22) or WinSCP)

• attach your ST-Link to the printer
• run STM32 ST-Link Utility
• Target → Connect
• backup your bootloader if you are coming from stock
  • select adress 0x08000000
  • left click Device Memory @ 0x08000000 → Save to file → original_bootloader.bin
• Target → Program
  • Start Adress: 0x08000000
  • Filepath: your klipper.bin
  • Start
• if you have problems connecting ST-Link after the successful flash, lower your Connection Frequency in Target → Settings
• Thats it. Restart your printer and click firmware restart in mainsail