Firmware for Custom model -- 2

I need a specialist to build the core firmware. The brain of the machine is an STM32 MCU and it must coordinate three key subsystems—motors, heaters, and fans—through a pair of Trinamic drivers (TMC2209 and TMC5160). Your code will run in Embedded C/C++, parse incoming G-code, and translate it into smooth motion and reliable temperature control while guarding against every fault scenario a printer can face. Here is the scope in practical terms: • Motion: drive multiple stepper axes with proper acceleration/deceleration, junction deviation, and micro-stepping using the two Trinamic driver families. • Temperature: read NTC thermistors, run a well-tuned PID loop for hotend and bed, manage cooling fans, and shut everything down on thermal runaway. • Safety & protection: brown-out detection, open-thermistor handling, stallGuard/over-current responses, and a watchdog that will reset safely on any unrecoverable error. • G-code pipeline: interpret the common commands used by slicers (Marlin-style dialect is fine), queue them efficiently, and keep the motion planner fed without stalling. • Diagnostics: serial/USB console with real-time status reports and a minimal command set for calibration and field updates. Deliverable: a fully-documented firmware project (HAL, drivers, and application layer) that compiles in the latest STM32CubeIDE, ready to flash and run on my prototype board. I will confirm acceptance once the printer completes a 24-hour bench print with all safety interlocks proven. If you have shipped motion-control firmware before, especially on STM32, let’s talk specifics and get this printer pushing plastic.