canstop

An open hardware CAN motor controller/endstop with NEMA17 mounting

Klipper Menuconfig

Select STM32F103 CAN Communication on PA12/PA11 Bootloader: optional, if using katapult select 8k

Katapult Menuconfig

Select STM32F103 CAN Communication on PA12/PA11

Memory addresses

Use JTAG to flash firmware Klipper only: @ address 0x8000000 Katapult + Klipper: Katapult @ 0x8000000, Klipper @ 0x8002000

Klipper Example config

[mcu CANStop0]
canbus_uuid: xxxxxxxx

[output_pin CANStop0_led]
pin: CANStop0: PA0

[led CANStop0_led]
green_pin: CANStop0: PA0
cycle_time: 1
hardware_pwm: True

[stepper_a]
step_pin: CANStop0: PB8
enable_pin: CANStop0: PA8
dir_pin: CANStop0: PB7
endstop_pin: CANStop0: PB12

[temperature_sensor]
sensor_type: mcu
sensor_temperature1:
sensor_adc1:

Hardware Description

At the core is an STM32F103C8T6. The maximum input voltage is 24V, regulated by an HT7533 down to 3.3V for the STM and other devices. A 120Ohm terminal resistor is on board, with a Normally Open Solder Jumper. Footprint is desinged for 90 degree angle XT30 2+2 connectors.

Pin mapping

• BOOT0: Boot 0 debug port

• PA12: CAN_TX

• PA11: CAN_RX

• PA9: UART/PDN for TMC2209

• PA8: TMC2209 Enable pin

• PB8: TMC2209 Step pin

• PB7: TMC2209 DIR pin

• PB15: CAN Standby Pin

• PB13: EIO Pin

• PB12: ESTOP Pin

• PA2: USER UART TX (debug)

• PA3: USER UART RX (debug)

• PA0: LED1 (active low)