prinThor

Printhor is a generic, hardware-agnostic firmware framework for FDM 3D printers, CNC machines, engravers, and robots, written in Rust using the embassy async runtime. It functions as a G-code interpreter that processes streams of commands, computes motion profiles with smooth acceleration and jerk-limited plans in real time, and drives step pulses, PWM signals, or dataframes for dedicated break-out boards. The framework emphasizes robustness, numerical stability, efficient resource utilization, and minimal busy waits through async multitasking and DMA transfers. It provides clean hardware abstraction, vector geometry kinematics, a precise PID thermal control plan, cornering algorithms based on linear algebra, and native simulation for development and benchmarking. The project is intended as a research and experimentation platform rather than a production-ready firmware, aiming to contribute innovative features and state-of-the-art approaches to the community.