For those that like tinkering with 3d printers, check out Klipper. It's an alternative "firmware" that differs in that the kinematic brains run on a raspberry pi and the actual firmware is just a minimal binary that consumes a reduced instruction set. It works with Octoprint, or with Klipper-specific tools via its api server.
Klipper is great. It makes 8-bit control boards about as effective as 32-bit ones. Having a single easy to modify config file is nice too. There's some quirks about it that take a while to wrap your head around, but once you do there's really no going back (at least for me).
