# klipper3d/klipper

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11,635 stars · 5,892 forks · C · GPL-3.0

## Links

- GitHub: https://github.com/Klipper3d/klipper
- awesome-repositories: https://awesome-repositories.com/repository/klipper3d-klipper.md

## Description

Klipper is a distributed motion control system and 3D printer firmware that splits high-level motion planning on a host computer from low-level timing execution on microcontrollers. It utilizes a host-based motion planner to calculate optimized trajectories and a real-time step generator on the microcontroller to produce precise motor pulses.

The system functions as a configurable kinematics engine, allowing hardware settings and movement kinematics to be tuned via configuration files without the need to recompile or flash the firmware. This architecture supports multi-controller hardware coordination to manage several microcontrollers across a single printer.

The project covers high-precision motion control and trajectory planning to improve printing speeds and surface finishes. It manages hardware coordination through timestamp-based command scheduling and distributed hardware clock synchronization between the host and controllers.

## Tags

### Hardware & IoT

- [Host-Controller Split Architectures](https://awesome-repositories.com/f/hardware-iot/host-controller-split-architectures.md) — Splits high-level motion planning on a host computer from low-level timing execution on microcontrollers.
- [3D Printer Motion Control](https://awesome-repositories.com/f/hardware-iot/stepper-motor-controllers/3d-printer-motion-control.md) — Implements a host-based motion planner that calculates optimized trajectories and coordinates multi-axis movement for 3D printers. ([source](https://github.com/klipper3d/klipper#readme))
- [Distributed Clock Synchronizers](https://awesome-repositories.com/f/hardware-iot/distributed-clock-synchronizers.md) — Implements distributed hardware clock synchronization between the host and microcontrollers for precise movement timing.
- [Configurable](https://awesome-repositories.com/f/hardware-iot/embedded-robotics/robotics-autonomous-systems/motion-planning-control/kinematics/configurable.md) — Provides a configurable engine for tuning printer hardware settings and movement kinematics via configuration files.
- [Motion Planning Toolkits](https://awesome-repositories.com/f/hardware-iot/embedded-robotics/robotics-autonomous-systems/motion-planning-control/motion-planning-toolkits.md) — Calculates and optimizes movement trajectories in advance to maintain maximum printing speed without losing steps.
- [S-Curve Trajectory Optimization](https://awesome-repositories.com/f/hardware-iot/embedded-robotics/robotics-autonomous-systems/motion-planning-control/trajectory-generation/s-curve-trajectory-optimization.md) — Computes movement curves in advance to optimize acceleration and velocity while preventing stepper motor stalls.
- [3D Printer Firmware](https://awesome-repositories.com/f/hardware-iot/firmware-management/3d-printer-firmware.md) — Provides a comprehensive firmware system splitting high-level planning from low-level timing execution.
- [Kinematic Configurations](https://awesome-repositories.com/f/hardware-iot/firmware-management/3d-printer-firmware/kinematic-configurations.md) — Allows tuning of hardware settings and kinematics without the need to recompile or flash firmware.
- [Real-Time Step Generators](https://awesome-repositories.com/f/hardware-iot/real-time-step-generators.md) — Generates precise pulse timing on the microcontroller to execute pre-computed motion commands.
- [Timestamped Command Schedulers](https://awesome-repositories.com/f/hardware-iot/timestamped-command-schedulers.md) — Sends movement packets with precise execution times to ensure synchronized motion across multiple hardware controllers.
- [USB Serial Interfaces](https://awesome-repositories.com/f/hardware-iot/integration-performance/hardware-interfacing-integration/hardware-interfacing/serial-communication-interfaces/usb-serial-interfaces.md) — Uses USB-to-serial bridging to transmit time-stamped movement packets from the host to the microcontroller.
- [Multi-Controller Coordination](https://awesome-repositories.com/f/hardware-iot/multi-controller-coordination.md) — Manages multiple micro-controllers across a single printer to handle more motors and sensors simultaneously.

### Development Tools & Productivity

- [Dynamic Configuration](https://awesome-repositories.com/f/development-tools-productivity/dynamic-configuration.md) — Provides the capability to update hardware settings and kinematic parameters without requiring firmware recompilation or service restarts.

### Software Engineering & Architecture

- [Dynamic Configuration Systems](https://awesome-repositories.com/f/software-engineering-architecture/dynamic-configuration-systems.md) — Updates printer hardware settings and kinematics at runtime via configuration files without process restarts.

### Networking & Communication

- [Hardware Command Pipelines](https://awesome-repositories.com/f/networking-communication/hardware-command-pipelines.md) — Transmits pre-computed motion instructions from the host to controllers over USB or serial links.
- [Additive Manufacturing Precision](https://awesome-repositories.com/f/networking-communication/printing-services/additive-manufacturing-precision.md) — Implements advanced motion control and pressure compensation to achieve higher printing speeds and smoother surface finishes.

### Part of an Awesome List

- [Printer Firmware](https://awesome-repositories.com/f/awesome-lists/devtools/printer-firmware.md) — High-performance firmware offloading processing to a host computer.