Install Raspbian lite on the raspberry pi. Boot and login, and install git.

Install klipper on the pi

Visit (kiauh)[https://github.com/dw-0/kiauh] and then run the .sh file at ./kiauh/kiauh.sh and go through the menus. Don't use an experiemental version, and install everything.

Go through the installation steps for everything, setting up one printer. Make sure to add tailscale to the list of trusted ip addresses at ~/printer_data/config/moonraker.config.

Get the Klipper firmware file

Git clone the (klippy repo)[https://github.com/Klipper3d/klipper/]

Once you have a local klipper git, you want to run make menuconfig in the klipper repo. Choose these settings:

[*] Enable extra low-level configuration options
    Micro-controller Architecture (STMicroelectronics STM32)  --->
    Processor model (STM32F103)  --->
[ ] Only 10KiB of RAM (for rare stm32f103x6 variant)
[ ] Disable SWD at startup (for GigaDevice stm32f103 clones)
    Bootloader offset (28KiB bootloader)  --->
    Clock Reference (8 MHz crystal)  --->
    Communication interface (Serial (on USART3 PB11/PB10))  --->
(250000) Baud rate for serial port
(!PC6, !PD13) GPIO pins to set at micro-controller startup

Then exit while saving, and run make. Once that has compiled, you want to run: sudo ~/klipper/scripts/update_mks_robin.py ~/klipper/out/klipper.bin ~/klipper/out/Robin_nano43.bin (see (here)[https://github.com/JhonasBarchechen/Klipper-Bluer/blob/main/mks%20nano%20firmware%20build%20commands.txt]) which will make the firmware file for the printer. Now load that onto an SD card, and put that into the printer, and turn the printer on to reflash the firmware.