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Embedded and IoT
printer-firmware
3D printer motion firmware
Klipper, Marlin
System
Techniques · 5
Primitives · 27
printer-firmware
Clock synchronization
distributed · medium: Estimate a clock's offset from four timestamps, filter out queueing noise, and steer the clock smoothly; NTP gets about a millisecond, PTP with hardware timestamps under a microsecond.
›
Input shaping
robotics · medium: Shape motion commands (ZV, MZV, EI) to cancel mechanical resonances
Inverse kinematics
robotics · medium: CCD/FABRIK/Jacobian solvers posing joint chains to reach targets
Look ahead junction planning
robotics · medium: Plan velocities across queued moves so corners keep speed within acceleration limits
Levenberg marquardt
numerics · medium: Damped Gauss-Newton nonlinear least squares for model calibration
PID controller
robotics · low: Drive a measured value to a setpoint with three terms on the error: proportional, integral, derivative. The default feedback loop for motors, heaters, drones and gimbals.
›
Fast Fourier transform
numerics · low: Computes the DFT in O(n log n) by recursively splitting into even and odd halves; the basis of fast convolution and spectral methods.
›
SPSC ring buffer
data-structures · low: Bounded wait-free queue for exactly one producer and one consumer thread, built from an array and two indices with acquire/release ordering.
›
G code parsing
robotics · low: Streaming G-code tokenizer/parser into motion and machine commands with modal state
Velocity motion profiles
robotics · low: Trapezoidal and S-curve (jerk-limited) velocity profiles for point-to-point moves
Watchdog timer
embedded · low: A hardware down-counter that resets the chip unless software proves, in time and in a plausible pattern, that it is still healthy.
›
CRC32C checksums
hardware-os · low: The Castagnoli CRC-32 with dedicated instructions on x86 (SSE4.2) and ARMv8. It is the standard fast integrity check for storage blocks, logs and network frames.
›
Interrupt handling
hardware-os · low: How a device signal reaches a CPU handler through an interrupt controller and vector table, and how top/bottom halves, polling switch-over and coalescing keep load bounded.
›
Length-prefix framing
networking · low: Split a byte stream (TCP, TLS, pipes) into messages by writing each message's length before it; O(1) boundary detection with no escaping.
›
Spline interpolation
numerics · low: Linear, bilinear/trilinear and cubic spline interpolation on grids and tables
Step pulse scheduling
robotics · low: Timer-scheduled stepper pulses (DDA/Bresenham, precomputed step times) synchronized across axes
Phase-locked loop (digital)
signal-processing · low: Feedback loop that locks a local oscillator to the phase and frequency of an input tone; the core of carrier recovery, clock recovery and GNSS tracking.
›
Robust statistics
statistics · low: Location and scale estimates (median, MAD, trimmed mean, Huber M-estimator) that stay correct when a minority of the data is garbage.
›
IIR and FIR filters
signal-processing · low: Two ways to shape a sampled signal's spectrum: FIR (finite taps, always stable, exact linear phase) or IIR (feedback, a few coefficients, cheap but phase-distorting).
›
Quaternion rotations
geometry · low: Unit quaternions as 3D rotations: 4 floats, cheap composition, no gimbal lock, plus the conversions, interpolation choices and numerical care needed in practice.
›
PCA and SVD
machine-learning · low: Find orthogonal directions of maximum variance by an SVD of the centred data; randomized SVD gets the top k components in a few passes.
›
+ 11 more primitives
System
Techniques · 5
Primitives · 27
printer-firmware
Clock synchronization
distributed · medium: Estimate a clock's offset from four timestamps, filter out queueing noise, and steer the clock smoothly; NTP gets about a millisecond, PTP with hardware timestamps under a microsecond.
›
Input shaping
robotics · medium: Shape motion commands (ZV, MZV, EI) to cancel mechanical resonances
Inverse kinematics
robotics · medium: CCD/FABRIK/Jacobian solvers posing joint chains to reach targets
Look ahead junction planning
robotics · medium: Plan velocities across queued moves so corners keep speed within acceleration limits
Levenberg marquardt
numerics · medium: Damped Gauss-Newton nonlinear least squares for model calibration
PID controller
robotics · low: Drive a measured value to a setpoint with three terms on the error: proportional, integral, derivative. The default feedback loop for motors, heaters, drones and gimbals.
›
Fast Fourier transform
numerics · low: Computes the DFT in O(n log n) by recursively splitting into even and odd halves; the basis of fast convolution and spectral methods.
›
SPSC ring buffer
data-structures · low: Bounded wait-free queue for exactly one producer and one consumer thread, built from an array and two indices with acquire/release ordering.
›
G code parsing
robotics · low: Streaming G-code tokenizer/parser into motion and machine commands with modal state
Velocity motion profiles
robotics · low: Trapezoidal and S-curve (jerk-limited) velocity profiles for point-to-point moves
Watchdog timer
embedded · low: A hardware down-counter that resets the chip unless software proves, in time and in a plausible pattern, that it is still healthy.
›
CRC32C checksums
hardware-os · low: The Castagnoli CRC-32 with dedicated instructions on x86 (SSE4.2) and ARMv8. It is the standard fast integrity check for storage blocks, logs and network frames.
›
Interrupt handling
hardware-os · low: How a device signal reaches a CPU handler through an interrupt controller and vector table, and how top/bottom halves, polling switch-over and coalescing keep load bounded.
›
Length-prefix framing
networking · low: Split a byte stream (TCP, TLS, pipes) into messages by writing each message's length before it; O(1) boundary detection with no escaping.
›
Spline interpolation
numerics · low: Linear, bilinear/trilinear and cubic spline interpolation on grids and tables
Step pulse scheduling
robotics · low: Timer-scheduled stepper pulses (DDA/Bresenham, precomputed step times) synchronized across axes
Phase-locked loop (digital)
signal-processing · low: Feedback loop that locks a local oscillator to the phase and frequency of an input tone; the core of carrier recovery, clock recovery and GNSS tracking.
›
Robust statistics
statistics · low: Location and scale estimates (median, MAD, trimmed mean, Huber M-estimator) that stay correct when a minority of the data is garbage.
›
IIR and FIR filters
signal-processing · low: Two ways to shape a sampled signal's spectrum: FIR (finite taps, always stable, exact linear phase) or IIR (feedback, a few coefficients, cheap but phase-distorting).
›
Quaternion rotations
geometry · low: Unit quaternions as 3D rotations: 4 floats, cheap composition, no gimbal lock, plus the conversions, interpolation choices and numerical care needed in practice.
›
PCA and SVD
machine-learning · low: Find orthogonal directions of maximum variance by an SVD of the centred data; randomized SVD gets the top k components in a few passes.
›
Rigid-body transforms (SE(3) poses)
robotics · low: Represent, compose, invert, integrate and interpolate 3D poses as unit quaternion plus translation, with exp/log maps for small motions and uncertainty.
›
Finite differences
numerics · low: Replace derivatives with weighted differences of grid values; simple stencils plus a stability condition (CFL) turn PDEs like heat, advection and waves into array loops.
›
LU and Cholesky factorization
numerics · low: Factor A = PLU (any square matrix, partial pivoting) or A = LLᵀ (SPD) once in O(n³), then solve each right-hand side in O(n²).
›
False sharing
concurrency · low: Independent variables written by different cores on one cache line force the line to bounce between cores; pad or regroup hot data to fix it.
›
Memory ordering
concurrency · low: What Relaxed, Acquire, Release and SeqCst atomics actually guarantee, what they cost on x86 and ARM, and which one each pattern needs.
›
Homogeneous transforms
geometry · low: 4x4 affine and projective matrices, homogeneous coordinates, view and projection, normal matrices
CPU caches and the memory hierarchy
hardware-os · low: Sizes, line widths and latencies of L1/L2/L3/DRAM on modern x86 and Apple M-series, and the data-layout rules that follow from them.
›
SIMD programming
hardware-os · low: Process 4-16 lanes per instruction with AVX2, AVX-512 or NEON via Rust std::arch, with runtime dispatch and a portable fallback.
›
Explicit Euler
numerics · low: Step an ODE forward by its current slope, y += h·f(t, y); first-order, one evaluation per step, the baseline every other integrator is measured against.
›
Thomas tridiagonal solver
numerics · low: O(n) tridiagonal linear solve used in implicit finite-difference and spline schemes
Biquad filters
signal-processing · low: Second-order IIR sections (RBJ cookbook): low/high pass, peaking EQ; stable cascades
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