<s>
Marlin	B-Device
is	O
open	B-Application
source	I-Application
firmware	B-Application
originally	O
designed	O
for	O
RepRap	O
project	O
FDM	O
(	O
fused	O
deposition	O
modeling	O
)	O
3D	O
printers	O
using	O
the	O
Arduino	O
platform	O
.	O
</s>
<s>
Once	O
the	O
firmware	B-Application
has	O
been	O
compiled	O
from	O
C++	B-Language
source	O
code	O
;	O
it	O
is	O
installed	O
and	O
runs	O
on	O
a	O
mainboard	O
with	O
onboard	O
components	O
and	O
general-purpose	O
I/O	O
pins	O
to	O
control	O
and	O
communicate	O
with	O
other	O
components	O
.	O
</s>
<s>
For	O
control	O
the	O
firmware	B-Application
receives	O
input	O
from	O
a	O
USB	O
port	O
or	O
attached	O
media	O
in	O
the	O
form	O
of	O
G-code	O
commands	O
instructing	O
the	O
machine	O
what	O
to	O
do	O
.	O
</s>
<s>
The	O
main	O
loop	O
manages	O
all	O
of	O
the	O
machine	O
's	O
real-time	O
activities	O
like	O
commanding	O
the	O
stepper	B-Algorithm
motors	I-Algorithm
through	O
stepper	O
drivers	O
,	O
controlling	O
heaters	O
,	O
sensors	O
,	O
and	O
lights	O
,	O
managing	O
the	O
display	B-Device
and	O
user	O
interface	O
,	O
etc	O
.	O
</s>
<s>
Marlin	B-Device
supports	O
many	O
different	O
types	O
of	O
3D	O
printing	O
robot	B-Application
platforms	I-Application
,	O
including	O
basic	O
Cartesian	O
,	O
Core	O
XY	O
,	O
Delta	O
,	O
and	O
SCARA	O
printers	O
,	O
as	O
well	O
as	O
some	O
other	O
less	O
conventional	O
designs	O
like	O
Hangprinter	O
and	O
Beltprinter	O
.	O
</s>
<s>
In	O
addition	O
to	O
3D	O
printers	O
,	O
Marlin	B-Device
is	O
generally	O
adaptable	O
to	O
any	O
machine	O
requiring	O
control	O
and	O
interaction	O
.	O
</s>
<s>
It	O
has	O
been	O
used	O
to	O
drive	O
SLA	O
and	O
SLS	O
3D	O
printers	O
,	O
custom	O
CNC	O
mills	O
,	O
laser	O
engravers	O
(	O
or	O
laser	O
beam	O
machining	O
)	O
,	O
laser	O
cutters	O
,	O
vinyl	B-Device
cutters	I-Device
,	O
pick-and-place	O
machines	O
,	O
foam	O
cutters	O
,	O
and	O
egg	O
painting	O
robots	O
.	O
</s>
<s>
Marlin	B-Device
was	O
first	O
created	O
in	O
2011	O
for	O
the	O
RepRap	O
and	O
Ultimaker	B-Device
printers	O
by	O
combining	O
elements	O
from	O
the	O
open	B-Application
source	I-Application
Grbl	O
and	O
Sprinter	O
projects	O
.	O
</s>
<s>
Development	O
continued	O
at	O
a	O
slow	O
pace	O
while	O
gaining	O
in	O
popularity	O
and	O
acceptance	O
as	O
a	O
superior	O
alternative	O
to	O
the	O
other	O
available	O
firmware	B-Application
.	O
</s>
<s>
By	O
2015	O
,	O
companies	O
were	O
beginning	O
to	O
introduce	O
commercial	O
3D	O
printers	O
with	O
Marlin	B-Device
pre-installed	O
and	O
contributing	O
their	O
improvements	O
to	O
the	O
project	O
.	O
</s>
<s>
Early	O
machines	O
included	O
the	O
Ultimaker	B-Device
1	I-Device
,	O
the	O
TAZ	O
series	O
by	O
Aleph	O
Objects	O
and	O
the	O
Prusa	O
i3	O
by	O
Prusa	O
Research	O
.	O
</s>
<s>
By	O
2018	O
manufacturers	O
had	O
begun	O
to	O
favor	O
boards	O
with	O
more	O
powerful	O
and	O
efficient	O
ARM	B-Architecture
processors	I-Architecture
,	O
often	O
at	O
a	O
lower	O
cost	O
than	O
the	O
AVR	B-Architecture
boards	O
they	O
supplant	O
.	O
</s>
<s>
After	O
extensive	O
refactoring	O
Marlin	B-Device
2.0	O
was	O
officially	O
released	O
in	O
late	O
2019	O
with	O
full	O
support	O
for	O
32-bit	O
ARM-based	O
controller	O
boards	O
through	O
a	O
lightweight	O
extensible	O
hardware	O
access	O
layer	O
.	O
</s>
<s>
While	O
Marlin	B-Device
1.x	O
had	O
only	O
supported	O
8-bit	O
AVR	B-Architecture
(	O
e.g.	O
,	O
ATMega	O
)	O
and	O
ATSAM3X8E	O
(	O
Due	O
)	O
platforms	O
,	O
the	O
HAL	O
added	O
ATSAMD51	O
(	O
Grand	O
Central	O
)	O
,	O
Espressif	O
ESP32	O
,	O
NXP	O
LPC176x	O
,	O
and	O
STMicro	O
STM32	O
.	O
</s>
<s>
Marlin	B-Device
also	O
acquired	O
HAL	O
code	O
to	O
run	O
natively	O
on	O
Linux	O
,	O
Mac	O
,	O
and	O
Windows	O
,	O
but	O
only	O
within	O
a	O
simulation	O
for	O
debugging	O
purposes	O
.	O
</s>
<s>
As	O
of	O
October	O
2022	O
,	O
Marlin	B-Device
is	O
still	O
under	O
active	O
development	O
and	O
continues	O
to	O
be	O
very	O
popular	O
,	O
claiming	O
to	O
be	O
"	O
the	O
most	O
widely	O
used	O
3D	O
printing	O
firmware	B-Application
in	O
the	O
world.	O
"	O
</s>
<s>
Some	O
of	O
the	O
most	O
successful	O
companies	O
using	O
Marlin	B-Device
today	O
are	O
Ultimaker	B-Device
,	O
LulzBot	O
,	O
Prusa	O
Research	O
,	O
and	O
Creality	O
.	O
</s>
<s>
Marlin	B-Device
firmware	B-Application
is	O
not	O
alone	O
in	O
the	O
field	O
of	O
open	B-Application
source	I-Application
3D	O
printer	O
firmware	B-Application
.	O
</s>
<s>
Other	O
popular	O
open	B-Application
source	I-Application
firmware	B-Application
offerings	O
include	O
RepRap	O
Firmware	B-Application
by	O
Duet3D	O
,	O
Buddy	O
Firmware	B-Application
by	O
Prusa	O
Research	O
,	O
and	O
Klipper	O
by	O
the	O
Klipper	O
Foundation	O
.	O
</s>
<s>
These	O
alternatives	O
take	O
advantage	O
of	O
extra	O
processing	O
power	O
to	O
offer	O
advanced	O
features	O
like	O
input	O
shaping	O
,	O
which	O
has	O
only	O
recently	O
been	O
added	O
to	O
Marlin	B-Device
.	O
</s>
<s>
Marlin	B-Device
firmware	B-Application
is	O
hosted	O
on	O
GitHub	B-Application
,	O
where	O
it	O
is	O
developed	O
and	O
maintained	O
by	O
a	O
community	O
of	O
contributors	O
.	O
</s>
<s>
Marlin	B-Device
's	O
lead	O
developer	O
is	O
Scott	O
Lahteine	O
(	O
aka	O
Thinkyhead	O
)	O
,	O
an	O
independent	O
shareware	B-License
and	O
former	O
Amiga	B-Application
game	I-Application
developer	O
who	O
joined	O
the	O
project	O
in	O
2014	O
.	O
</s>
<s>
Marlin	B-Device
is	O
written	O
in	O
optimized	O
C++	B-Language
for	O
the	O
Arduino	O
API	O
in	O
a	O
mostly	O
embedded-C	O
++	O
style	O
,	O
which	O
avoids	O
the	O
use	O
of	O
dynamic	B-General_Concept
memory	I-General_Concept
allocation	I-General_Concept
.	O
</s>
<s>
The	O
firmware	B-Application
can	O
be	O
built	O
with	O
Arduino	O
IDE	O
,	O
PlatformIO	B-Application
,	O
or	O
Auto	O
Build	O
Marlin	B-Device
extension	O
for	O
visual	B-Language
studio	I-Language
code	I-Language
.	O
</s>
<s>
The	O
latter	O
method	O
is	O
recommended	O
because	O
it	O
is	O
very	O
easy	O
but	O
it	O
only	O
being	O
an	O
VSC	B-Language
extension	O
requires	O
VSC	B-Language
to	O
be	O
installed	O
on	O
the	O
building	O
system	O
first	O
.	O
</s>
<s>
Marlin	B-Device
is	O
distributed	O
under	O
the	O
GPL	O
license	O
which	O
requires	O
that	O
organizations	O
and	O
individuals	O
share	O
their	O
source	O
code	O
if	O
they	O
distribute	O
the	O
firmware	B-Application
in	O
binary	O
form	O
,	O
including	O
firmware	B-Application
that	O
comes	O
pre-installed	O
on	O
the	O
mainboard	O
.	O
</s>
<s>
Marlin	B-Device
firmware	B-Application
is	O
used	O
by	O
several	O
3D	O
printer	O
manufacturers	O
,	O
most	O
of	O
which	O
are	O
fully	O
compliant	O
with	O
the	O
license	O
.	O
</s>
