Smoothie
What is Smoothieware?
Smoothieware is a free, opensource, high-performance G-code interpreter and CNC control system designed for modern ARM-based microcontrollers. It enables precise motion control for various machines including 3D printers, laser cutters, CNC mills, and pick-and-place machines.
The project consists of:
- Firmware: Real-time control software running on dedicated hardware
- Controller Board: Specialized PCB (Smoothieboard) with motor drivers and expansion capabilities
- Community: Active developers and users providing support and extensions
Smoothieware runs on specialized controller hardware designed for precision motion control. There are two main versions currently in use:
Processor:
- Microcontroller: NXP LPC1769 (ARM Cortex-M3)
- Clock Speed: 100-120 MHz
- Flash Memory: 512 KB
- RAM: 64 KB (32 KB local SRAM + 32 KB AHB SRAM)
- Architecture: Single-core 32-bit processor
- No hardware floating-point unit (FPU)
Smoothieboard V1 Features:
- 4 stepper motor drivers (bipolar capable)
- Temperature control for up to 3 heaters (hotend, heated bed, etc.)
- 3-axis endstop inputs with support for homing
- PWM outputs for spindle, fans, and heaters
- SD card support for storing G-code files
- Ethernet connectivity (100 Mbps)
- USB serial communication
- Expansion through connectors
Best For:
- 3D printers (RepRap and custom designs)
- Laser cutters and engravers
- Desktop CNC mills
- Small pick-and-place machines
- Educational robotics projects
Performance Characteristics:
- Suitable for standard motion control applications
- Step rates: up to ~40 kHz typical
- Real-time motion planning with acceleration management
- Adequate for hobby and semi-professional use
Processor:
- Microcontroller: STM32H745 (Dual-core ARM)
- M7 Core: 480 MHz (primary, currently used)
- M4 Core: 240 MHz (optional co-processor, currently disabled)
- Flash Memory: 2 MB (4× larger than V1)
- RAM: 1 MB total (16× larger than V1)
- DTCM: 128 KB (data tightly-coupled)
- ITCM: 128 KB (instruction tightly-coupled)
- AXI SRAM: 512 KB (high-speed)
- Additional SRAM: 352 KB
- Architecture: Dual-core with dedicated caches
- Hardware floating-point units on both cores
Smoothieboard V2 Prime Features:
- 4 TMC2660/TMC2590 stepper drivers (advanced motion control ICs)
- 9 Gadgeteer expansion headers (90 pins total for modules)
- Temperature control capabilities
- Advanced endstop and sensor inputs
- PWM and digital I/O for various actuators
- SD card support (SDIO interface)
- Fast Ethernet (10/100 Mbps)
- Dual USB (Device + Host for debugging and connectivity)
- Extensive protection and monitoring circuitry
- OSHWA certified (FR000021)
Performance Improvement Over V1:
- CPU: 4.8× faster clock speed
- Performance: 8.2× more DMIPS (million instructions per second)
- Memory: 4× flash capacity, 16× RAM capacity
- Step rates: Support for much higher frequencies
- Processing power enables complex features and real-time algorithms
Best For:
- High-precision 3D printing with advanced features
- Professional laser cutting and engraving
- Industrial-grade CNC machining
- Complex multi-axis motion control
- Machines requiring real-time closed-loop feedback
- Applications needing network connectivity and remote operation
Development Status:
- Production: Available from RoboSprout and authorized distributors
- Price: ~$230 USD (as of Feb 2025)
- Firmware: Actively developed with frequent updates
- Community: Growing ecosystem of users and developers
Getting Started
Choose your path based on which version of Smoothieware you’re using:
V1 Users:
- Getting Started Guide - Quick setup instructions
- Smoothieboard Documentation - Hardware details
- Configuration Guide - Software setup
- FAQ - Common questions answered
V2 Users:
- Getting Started Guide - Quick setup instructions (V2-specific)
- Smoothieboard V2 Documentation - Hardware details
- Configuration Guide - Software setup (V2-specific)
- Migration Guide - Upgrading from V1 to V2
Communication & Support
V1 Support Channels:
V2 Support Channels:
Contributing
The Smoothie project welcomes contributions from developers, users, and enthusiasts. Whether you want to:
- Improve documentation
- Report bugs and suggest features
- Develop new modules or features
- Create guides and tutorials
- Help test firmware releases
See the Contributing Guide and Editing the Wiki pages for more information.
You can also contact the project maintainers to discuss how you can help.
Learn More
For detailed information about specific topics: