List of Firmware

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This page is the authoritative list of active firmwares.

For a list of out-of-date firmwares, see List of Abandoned and Deprecated Firmware:


Details Description

Name : Teacup
Author(s) : Triffid_hunter, Traumflug, jakepoz
Status : Active as of May 2012

A featured firmware with emphasis on efficiency, flexibility and clean code design.
  • Has better performance due to
  • written in C instead of C++
  • only uses integer math
  • minimizes long math interruptions
  • stepper extruder
  • extruder speed control
  • movement speed control
  • RepRap-style acceleration
  • start-stop ramping
  • thermocouples
  • heated build platforms
  • Support for spindles, CNC-milling
  • Unlimited number of extruders
  • Sub-32K size can squeeze onto a plain old Arduino Uno ATmega328. Can fit on an ATmega168.
Compatible Electronics
How to download

Can download like this:

git clone
Documentation & Misc. Notes

Documentation and more information is over at github and on the wiki under Teacup Firmware.

  • this firmware was ported to ARM Cortex-M3 for the HBox_RepRap_Electronics.
  • DC motor extruder control is present but untested
  • contains a constant acceleration implementation based on this article


Details Description

Name : sjfw
Author(s) : ScribbleJ
Status : active as of Aug 8, 2011

A featureful modern Reprap firmware.
  • High-speed gcode pipeline. No intra-move delay.
  • LCD/Keypad control panel, Hostless printing
  • Acceleration
  • Volumetric/5D
  • SD Card
Compatible Electronics
How to download

Download from GitHub by running

git clone
Documentation & Misc. Notes

See the sjfw page for more information.


Details Description

Name : Marlin
Author(s) : Erik van der Zalm:Active as may 2011; Bernhard Kubicek: Active as november 2011
Status : Active as of Mar 2012

Development on this firmware appears to be very active. Forked from Sprinter and Grbl.
  • Look ahead (Keep the speed high when possible. High cornering speed)
  • High steprate
  • Interrupt based temperature protection
  • Interrupt based movement with real linear acceleration
  • preliminary support for Matthew Roberts advance algorithm For more info see:
  • Full endstop support
  • SD Card support
  • SD Card folders (works in pronterface)
  • LCD support (ideally 20x4)
  • LCD menu system for autonomous SD card printing, controlled by an click-encoder.
  • EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
  • many small but handy things originating from bkubicek's fork.
  • Arc support
  • Temperature oversampling
  • Dynamic Temperature setpointing aka "AutoTemp"
  • Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing.
  • Endstop trigger reporting to the host software.
  • Updated sdcardlib
  • Heater power reporting. Useful for PID monitoring.
Compatible Electronics
How to download

You can download tagged versions on github

All branches, most current is Marlin_v1 are on Github

Documentation & Misc. Notes

The included Marlin


Details Description

Name : Sailfish
Author(s) : Jetty: Active as Dec 2011; Dan Newman: Active as February 2012
Status : Active as of October 2012

Development on this firmware appears to be very active. Forked from Marlin and Makerbot G4Firmware.
  • Acceleration support with acceleration planner look ahead
  • Dual extrusion including "ditto printing" (concurrently print two identical copies of a single item)
  • Support for asymmetric advance algorithms; JKN Advance
  • Support for yet-another-jerk (YAJ) algorithm
  • Support for firmware based deprime (reversal/retraction)
  • High step rate (20 KHz)
  • Automated Build Platform (ABP) support
  • Heated build platform support
  • Safety cutoff support (print stops when extruder safety cutoff triggered)
  • Interrupt based temperature protection
  • Interrupt based movement with real linear acceleration
  • PID based temperature control on extruders and heated build platform
  • Full endstop support
  • SD Card support
  • EEPROM storage firmware related parameters
  • LCD Interface (16x4, 20x4, 24x4)
    • Extruder load/unload
    • Preheat
    • Continuous jog on hold button
    • Lifetime filament counter
    • Jog "User View" (X,Y directions orientated to user)
    • Build: "Time Left", "Elapsed", "Z Position", "Percent Complete", "Filament Usage"
    • Pause during build
    • Auto Pause @ Z Position
    • Multi colored printing with single extruder
    • Page Up / Down in menus / file lists
    • Print Another
    • Override GCode temperature
    • Supports 16x4, 20x4 and 24x4 LCD displays
    • Multiple copies
    • Copy n of N indicator during Build
    • Advance belt button
    • Profiles (saves recalibrating when swapping platforms)
    • Calibration
    • Home Offsets
    • Mood Light Support: [1]
    • Buzzer Support: [2]
    • Homing
    • Steppers Enable/Disable
    • Endstop testing
    • Extruder fan control
Compatible Electronics
How to download

See Thingiverse thing 32084

Sources are available at github

[3] [4]

Documentation & Misc. Notes

Sailfish documentation.


Details Description

Name : Makerbot firmware
Author(s) : Who knows
Status : active as of Mar 2012

The v2 makerbot firmware was a rewrite of the old Gen3 firmware to be a little more robust. The latest version appears to be v3.2.
Compatible Electronics
How to download

Download from Makerbot's github repo using the commands

git clone
Documentation & Misc. Notes

The v3 firmware is where all active development takes place. See the Makerbot wiki for details on how to build and install the code.


Details Description

Name : Grbl
Author(s) : Simen Svale Skogsrud
Status : active up to Feb 2012

Grbl is a no-compromise, high performance, low cost alternative to parallel-port-based motion control for CNC milling. Does not control extruders.
  • run on a vanilla Arduino (Duemillanove/Uno) as long as it sports an Atmega 328
  • nice simple controller for CNC milling
  • written in tidy, modular C
  • does not require parallel port
  • able to maintain more than 30kHz step rate and delivers a clean, jitter free stream of control pulses.
  • full acceleration-management with look ahead planner
Compatible Electronics
How to download

Downloadable from github by running:

git clone
Documentation & Misc. Notes

Documentation is at

From the website:

We have limited g-code-support by design. Grbl support all the common operations encountered in output from CAM-tools, but leave human g-coders frustrated. No variables, no tool offsets, no functions, no arithmetic and no control structures. Just the basic machine operations. We have yet to find a CAM-generated file that failed to run, though.
  • No gui, all interaction is through command line


Details Description

Name : Repetier
Author(s) : Repetier:Active as Nov 2011;
Status : v0.40

forked from Sprinter.
  • RAMP acceleration support.
  • Path planning for higher print speeds. (since version 0.32, 2011/9/24)
  • Fast ooze prevention system. (since version 0.35, 2011/10/8)
  • Trajectory smoothing for smoother lines. (since version 0.32, 2011/9/24)
  • Nozzle pressure control for improved print quality with RAMPS. (since version 0.32, 2011/9/24)
  • Fast - 16000 Hz and more stepper frequency is possible with a 16 MHz AVR. (since version 0.32, 2011/9/24)
  • Multiple extruder supported (experimental).
  • Standard ASCII and improved binary (Repetier protocol) communication.
  • Autodetect the command protocol, so it will work with any host software.
  • Continuous monitoring of one temperature.
  • Important parameters are stored in EEPROM and can easily modified without recompilation of the firmware.
  • Stepper control is handeled in an interrupt routine, leaving time for filling caches for next move.
  • PID control for extruder temperature.
  • Interrupt based sending buffer (Arduino library normally waits for the recipient to receive written data)
  • Small RAM memory print, resulting in large caches.
  • Supports SD-cards.
  • mm and inches can be used for G0/G1
  • Works with Skeinforge 41, all unknown commands are ignored.
  • Dry run : Execute yout GCode without using the extruder. This way you can test for non-extruder related failures without actually printing.
  • User defined and generic thermistor table( just set r0,t0,beta,r1,r2) in config (since version 0.31).
Compatible Electronics
How to download

github code

Documentation & Misc. Notes

github wiki


Yarf is Yet Another RepRap Firmware. extensive documentation.

further reading