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CLAUDE.md

Project

Multi-board 3D printer firmware using Embassy async actors. Supports Duet 3 Mini 5+ (ATSAME54P20A), BTT EBB42 (STM32G0B1), and BTT SKR Pico (RP2040).

Build

cargo check --workspace          # type-check all crates
cargo test --workspace \
  --exclude duet3-firmware --exclude ebb42-firmware --exclude pico-firmware \
  --exclude actor-framework --exclude wasm-sim \
  --target x86_64-unknown-linux-gnu  # run all tests on host
cargo clippy --workspace         # lint
cargo fmt --all                  # format

Architecture

Portable library crates with HAL trait boundary:

  • printer-hal — trait definitions (StepperDriver, TemperatureSensor, etc.)
  • gcode-parser — zero-allocation G-code parsing
  • dispatcher — command routing (gcode → motion/thermal/sdcard actors)
  • motion-planner — trapezoidal profiles + Bresenham step generator
  • thermal — PID controller + heater/fan manager
  • sdcard — line reader + file protocol
  • actor-framework — Embassy-based mailbox/event bus Board-specific pin mapping crates:
  • board-hal — Duet 3 Mini 5+ (ATSAME54P20A) pin mappings + TMC2209
  • board-ebb42 — BTT EBB42 v1.2 (STM32G0B1CBT6) CAN toolboard pins
  • board-pico — BTT SKR Pico v1.0 (RP2040) mainboard pins

Binary crates (thin hardware wiring layers):

  • firmware/ — Duet 3 Mini 5+ mainboard firmware
  • firmware-ebb42/ — EBB42 CAN toolboard firmware (stepper + thermal + CAN)
  • firmware-pico/ — SKR Pico mainboard firmware (full stack)
  • wasm-sim/ — mock HAL impls for browser/host testing

Pull Request Policy

Pull requests should be automatically merged when all CI checks pass. Use gh pr merge --auto --squash after creating a PR to enable auto-merge.