If you are using this product or like the project, please ★ this repository to show your support! 🤩
Printhor is a generic a hardware-agnostic firmware framework focused on FDM printers, CNC and Engravers implemented in Rust.
There are many productive firmwares in the community like gbrl, marlin, reprap, etc. Each single one have a concrete approach and guidelines. This one aims to provide a research environment for not strictly productive purpose, but a reliable platform with the following goals:
- Robustness.
- Numerical stability.
- Efficient resources utilization and close-to-preemptive multitasking.
- Leverage async multitasking.
- Maintain busy waits to a minimum.
- Ensure leverage of DMA transfers as much as possible.
- Ensure of leverage of FPU when present.
- Simplicity.
- Clarity and readability.
Which means the principal short-term goal is not to develop a productive firmware for final user rather than providing an environment in which anyone can test and experiment any concrete approach to feed the community with good quality, state-of-the-art or innovative feature increments.
- "Clean" hardware abstraction.
- Vector geometry / linear algebra calculus for kinematics
- High precision and deterministic kinematics and computations.
- Simple, secure and efficient resource and peripherals sharing.
- Clean and simple async tasks coordination/intercommunication with event based primitives.
- Wide GCode standard coverage.
- Native simulation for development and benchmarking.
- Smooth acceleration and jerk limited motion plan.
- Precise thermal control.
- Many others coming.
| Feature | Status |
|---|---|
| Simulation | Functional |
| I/O | Functional |
| State and logic | Incubation |
| Motion Planner | Incubation |
| Kinematics | Draft |
| Thermal Control | Draft |
| Display | Draft |
| Laser/CNC | TODO |
If you are interested in this project and want to collaborate, you are welcome.
A Discord server has been created for informal discussions. Otherwise, Github Issues and Pull Requests are preferred.
git clone https://github.com/cbruiz/printhor
cd printhorThe minimal toolset required to build and run is:
- Rust, in order to compile
- cargo binutils, to produce the image binary that you can flash via SD card as usual.
- [Optionally] probe-run, if you are willing to use a SWD/Jlink debugger (https://github.com/knurling-rs/probe-run)
- [Optionally] cargo-bloat and cargo-size utils are great to analyze the code size.
- [Optionally] A Rust IDE, like VStudio Code (recommended), Jetbrains IDE (IntelliJ, CLion or RustRover (recommended)), or others
This crate requires Rust nighlty.
For official guide, please see https://www.rust-lang.org/tools/install
However, if your os is unix based:
curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
rustup updateFor microcontrollers (currently few stm32 only), the specific target toolchain and cargo binutils is also needed:
rustup target add thumbv7em-none-eabi
rustup target add thumbv7em-none-eabihf
rustup target add thumbv6m-none-eabi
cargo install cargo-binutilsOptionally, for debugging on baremetal microcontrollers (currently few stm32 only):
cargo install probe-runThe framework with a set of mocked peripherals (most of them without any logic). Provides a commandline GCode prompt on standard input
Note: A SDCard image in ./data/ is required to be open if sdcard feature is enabled in native :)
RUST_LOG=info cargo +nightly run --bin printhorNative backend has a special feature called integration-test which is used to perform "some kind of" integration tests. Still pending to be matured.
RUST_LOG=info cargo +nightly run --features integration-test --bin printhorThis board (https://biqu.equipment/collections/control-board/products/bigtreetech-skr-mini-e3-v2-0-32-bit-control-board-for-ender-3) is quite functional
Firmware is around to 140Kb, and expecting to be around 100Kb with the core funtions and components (except, for instance: display, which is likely to increase it beyond the 110KB limit for 128KB flash size microcontrollers)
The firmware.bin file ready to be uploaded to the SD can be produced with the following commandline:
DEFMT_LOG=info cargo +nightly objcopy --release --no-default-features --features skr_mini_e3_v3 --target thumbv6m-none-eabi --bin printhor -- -O binary firmware.binDEFMT_LOG=off RUST_BACKTRACE=0 cargo +nightly objcopy --profile release-opt --no-default-features --features skr_mini_e3_v3 --target thumbv6m-none-eabi --bin printhor -- -O binary firmware.binA simple stand-alone std binary to experiment with motion plan (kind of playground):
cargo +nightly run --bin scurve_plotExample output:
- Code productivization. Mostly based on https://dl.acm.org/doi/pdf/10.1145/3519941.3535075 and https://jamesmunns.com/blog/fmt-unreasonably-expensive/:
- Code size reduction.
- Remove unwrap/panic calls.
- Remove unsafe code (a little bit, but there it is)
- Remove trivial/redundant computation but not compromising readability.
- Unit test
- CoreXY support
- Display
- I/O control
- xonxoff
- Adaptative planing cost measurement to take a decision on chaining or not and how much.
- There is an issue activating USB together with SPI in SKR E3 Mini v3 :(
- exfat support could be great.
For a single board, the high-level features (hotend, hotbed, fan, sdcard, ... ) can be activated/deactivated by cargo feature selection or directly editing the main cargo.toml In order to change pins, writing/adapting some code is required, as of now. There is not expected to be, at least in the short term any kind of configuration file.
Because of that limitation (Rust makes that hard to tackle because of the strict typing), a clean code organization it's crucial and pretty straightforward to assume slight customizations by editing code.
printhor is composed by the following architectural blocks
- embassy-rs, as the harware and async foundation https://github.com/embassy-rs/embassy
- async-gcode, as the core of the GCode interpretation https://github.com/ithinuel/async-gcode
- printhor-hwa-common (within the project), as the hardware abstraction layer contract and common utilery
- A set of crates (withn the project) for each harware/board. Currently:
- printhor-hwi_native : The native simulator.
- printhor-hwi_skr_mini_e3_v3 : (See Datasheets/SKR_MINI_E3-V3.0)
- printhor-hwi_mks_robin_nano_v3_1 [WIP] : (See Datasheets/MKS-ROBIN-NANO-V3.1)
- printhor-hwi_nucleo_64_arduino_cnc_hat [WIP] : A Nucleo-64 development board (currently L476RG or F410RB) with Arduino CNC Shield v3.x (See Datasheets/NUCLEO-L476RG_CNC_SHIELD_V3)
Intentionally, traits are in general avoided when not strictly required in favour of defining a more decoupled and easy to evolve interface based on:
- type aliases
- module exports
Diagram is Work in Progress
- https://embassy.dev/ Rust Embassy; The next-generation framework for embedded applications. The most important and core framework conforming the pillars of this project.
- https://github.com/nviennot/turbo-resin Exactly the same a printhor but focused in resin printers. The Project which inspired and motivated this one.
- https://github.com/marcbone/s_curve A really appreciated know-how. The current selected motion profile is based on this work, but intense reinterpretation were performed to make this project work.The book referenced by the author of s-curve is a key reading considered to conduct the goals of the motion plan. Nevertheless, our implementation is still un-mature/unproven to ask for a merge.
Gcode implementation status, as from https://reprap.org/wiki/G-code
- WIP: Work In Progress
- ILT: In the Long Term
- TODO: To Do
| M-Code | Mode | Description | Status |
|---|---|---|---|
| M | * | List all supported m-codes | DONE |
| M0 | * | Stop or Unconditional stop | WIP |
| M1 | * | Sleep or Conditional stop | WIP |
| M2 | * | Program End | WIP |
| M3 | CNC | Spindle On, Clockwise | WIP |
| LASER | Laser On | WIP | |
| M4 | CNC | Spindle On, Counter-Clockwise | WIP |
| LASER | Laser On | WIP | |
| M5 | CNC | Spindle Off | WIP |
| LASER | Laser Off | WIP | |
| M6 | * | Tool change | ILT |
| M7 | CNC | Mist Coolant On | ILT |
| M8 | CNC | Flood Coolant On | ILT |
| M9 | CNC | Coolant Off | ILT |
| M10 | CNC | Vacuum On | ILT |
| M11 | CNC | Vacuum Off | ILT |
| M13 | CNC | Spindle on (clockwise rotation) and coolant on (flood) | ILT |
| M16 | CNC | Expected Printer Check | TODO |
| M17 | * | Enable/Power all stepper motors | WIP |
| M18 | * | Disable all stepper motors | WIP |
| M20 | * | List SD card | WIP |
| M21 | * | Initialize SD card | TODO |
| M22 | * | Release SD card | TODO |
| M23 | * | Select SD file | TODO |
| M24 | * | Start/resume SD print | TODO |
| M25 | * | Pause SD print | TODO |
| M26 | * | Set SD position | ILT |
| M27 | * | Report SD print status | TODO |
| M30 | * | Program Stop | TODO |
| M31 | * | Output time since last M109 or SD card start to serial | TODO |
| M32 | * | Select file and start SD print | TODO |
| M33 | * | Get the long name for an SD card file or folder | ILT |
| M37 | * | Simulation mode | WIP |
| M73 | * | Set/Get build percentage | TODO |
| M79 | * | Soft reset | WIP |
| M80 | * | ATX Power On | WIP |
| M81 | * | ATX Power Off | WIP |
| M82 | * | Set extruder to absolute mode | WIP |
| M83 | * | Set extruder to relative mode | WIP |
| M92 | * | Set axis_steps_per_unit | WIP |
| M104 | FFF | Set Extruder Temperature | WIP |
| M105 | FFF | Get Extruder Temperature | WIP |
| M106 | * | Fan On | WIP |
| M107 | * | Fan Off | WIP |
| M109 | FFF | Set Extruder Temperature and Wait | WIP |
| M110 | * | Set Current Line Number | WIP |
| M111 | * | Set Debug Level | WIP |
| M112 | * | Full (Emergency) Stop | WIP |
| M114 | * | Get Current Position | WIP |
| M115 | * | Get Firmware Version and Capabilities | WIP |
| M116 | * | Wait | WIP |
| M117 | * | Display message | WIP |
| M118 | * | Echo message on host | WIP |
| M119 | * | Get Endstop Status | WIP |
| M120 | * | Enable endstop detection | WIP |
| M121 | * | Disable endstop detection | WIP |
| M140 | * | Set Bed Temperature (Fast) | WIP |
| M200 | * | Set filament diameter | WIP |
| M201 | * | Set max acceleration | WIP |
| M202 | * | Set max travel acceleration | WIP |
| M203 | * | Set maximum feedrate | WIP |
| M204 | * | Set default acceleration | WIP |
| M205 | * | Advanced settings | WIP |
| M206 | * | Offset axes | WIP |
| M207 | * | Set retract length | WIP |
| M208 | * | Set unretract length | WIP |
| M209 | FFF | Enable automatic retract | WIP |
| M210 | * | Set homing feedrates | WIP |
| M211 | * | Disable/Enable software endstops | WIP |
| M212 | * | Set Bed Level Sensor Offset | WIP |
| M218 | * | Set Hotend Offset | WIP |
| M220 | * | Set speed factor override percentage | WIP |
| M221 | * | Set extrude factor override percentage | WIP |
| M290 | * | Babystepping | WIP |
| M302 | * | Allow cold extrudes | WIP |
| M305 | * | Set thermistor and ADC parameters | WIP |
| M350 | * | Set microstepping mode | WIP |
| M360 | * | Report firmware configuration | WIP |
| M400 | * | Wait for current moves to finish | TODO |
| M401 | * | Deploy Z Probe | TODO |
| M402 | * | Stow Z Probe | TODO |
| M404 | * | Filament width and nozzle diameter | WIP |
| M407 | * | Display filament diameter | WIP |
| M410 | * | Quick-Stop | TODO |
| M422 | * | Set a G34 Point | WIP |
| M450 | * | Report Printer Mode | WIP |
| M451 | * | Select FFF Printer Mode | WIP |
| M452 | * | Select Laser Printer Mode | WIP |
| M453 | * | Select CNC Printer Mode | WIP |
| M500 | * | Store parameters in non-volatile storage | TODO |
| M501 | * | Read parameters from EEPROM | TODO |
| M502 | * | Restore Default Settings | WIP |
| M503 | * | Report Current Settings | WIP |
| M504 | * | Validate EEPROM | TODO |
| M505 | * | Clear EEPROM and RESET Printer | TODO |
| M510 | * | Lock Machine | ILT |
| M511 | * | Unlock Machine with Passcode | ILT |
| M512 | * | Set Passcode | ILT |
| M513 | * | Remove Password | ILT |
| M524 | * | Abort SD Printing | ILT |
| M555 | * | Set compatibility | ILT |
| M563 | * | Define or remove a tool | ILT |
| M851 | * | Set Z-Probe Offset | WIP |
| M862.1 | * | Check nozzle diameter | ILT |
| M862.2 | * | Check model code | ILT |
| M862.3 | * | Model name | TODO |
| M929 | * | Start/stop event logging to SD card | TODO |
| G-Code | Mode | Description | Status |
|---|---|---|---|
| G | * | List all supported g-codes | DONE |
| G0 | * | Rapid Move | WIP |
| G1 | * | Linear Move | WIP |
| G4 | * | Dwell | TODO |
| G10 | * | Retract | ILT |
| G11 | * | Unretract | TODO |
| G17 | * | Plane Selection XY (default) | TODO |
| G18 | CNC | Plane Selection ZX | ILT |
| G19 | CNC | Plane Selection YZ | ILT |
| G21 | * | Set Units to Millimeters | WIP |
| G22 | * | Firmware Retract | ILT |
| G23 | * | Firmware Recover | ILT |
| G28 | * | Move to Origin (Home) | TODO |
| G29 | * | Detailed Z-Probe | TODO |
| G29.1 | * | Set Z probe head offset | WIP |
| G29.2 | * | Set Z probe head offset calculated from toolhead position | ILT |
| G30 | * | Single Z-Probe | TODO |
| G31 | * | Set or Report Current Probe status | TODO |
| G38.2 | * | Probe toward workpiece, stop on contact, signal error if failure | ILT |
| G38.3 | * | Probe toward workpiece, stop on contact | ILT |
| G38.4 | * | Probe away from workpiece, stop on loss of contact, signal error if failure | ILT |
| G38.5 | * | Probe away from workpiece, stop on loss of contact | ILT |
| G80 | * | Mesh-based Z probe | ILT |
| G81 | * | Mesh bed leveling status | ILT |
| G82 | * | Single Z probe at current location | TODO |
| G90 | * | Set to Absolute Positioning | WIP |
| G91 | * | Set to Relative Positioning | WIP |
| G92 | * | Set Position | WIP |
| G92.1 | * | Reset axis offsets (and parameters 5211-5219) to zero. (X Y Z A B C U V W) | ILT |
| G92.2 | * | Reset axis offsets to zero | ILT |
| G93 | CNC | Feed Rate Mode (Inverse Time Mode) | ILT |
| G94 | CNC | Feed Rate Mode (Units per Minute) | ILT |
M73 P0 R87
M73 Q0 S87
M201 X1000 Y1000 Z200 E5000 ; sets maximum accelerations, mm/sec^2
M203 X200 Y200 Z12 E120 ; sets maximum feedrates, mm / sec
M204 P1250 R1250 T1500 ; sets acceleration (P, T) and retract acceleration (R), mm/sec^2
M205 X8.00 Y8.00 Z0.40 E4.50 ; sets the jerk limits, mm/sec
M205 S0 T0 ; sets the minimum extruding and travel feed rate, mm/sec
M107
;TYPE:Custom
M862.3 P "MK3" ; printer model check
M862.1 P0.4 ; nozzle diameter check
G90 ; use absolute coordinates
M83 ; extruder relative mode
M80 ; Power on
G28 W ; home all without mesh bed level
G80 ; mesh bed leveling
G28 X Y; Park
M104 S235 ; set extruder temp
M140 S60 ; set bed temp
M190 S60 ; wait for bed temp
M109 S235 ; wait for extruder temp
G1 Z0.2 F720
G1 Y-3 F1000 ; go outside print area
G92 E0
G1 X60 E9 F1000 ; intro line
G1 X100 E12.5 F1000 ; intro line
G92 E0
M221 S95
; Don't change E values below. Excessive value can damage the printer.
M907 E430 ; set extruder motor current
G21 ; set units to millimeters
G90 ; use absolute coordinates
M83 ; use relative distances for extrusion
; Filament-specific start gcode
M900 K0.2
M107
;LAYER_CHANGE
;Z:0.2
;HEIGHT:0.2
;BEFORE_LAYER_CHANGE
G92 E0.0
;0.2
G1 E-3.1 F3000
G1 Z.4 F720
;AFTER_LAYER_CHANGE
;0.2
G1 X76.782 Y74.538 F13200
G1 Z.2 F720
G1 E3.1 F3000
M204 P800
;TYPE:Skirt/Brim
;WIDTH:0.42
G1 F1200
G1 X77.609 Y73.879 E.03317
G1 X90.788 Y67.532 E.45862
G1 X91.819 Y67.297 E.03317
G21
G90
M206 X-45. Y-10. Z-20.; Laser offset
G28; Homing
G1 F3000. Z7.
M107;svg#svg5 > g#layer89324 > path#rect2575
G0 X12.650835 Y109.995
M4 I S255
G1 X112.64085 Y109.995 F3000
G1 X112.64085 Y10.004999999999995 F3000
G1 X12.650835 Y10.004999999999995 F3000
G1 X12.650835 Y109.99499999999999 F3000
M5 I