I made a cross shaft driven 3D printer to make a device enclosure and some structural assembly parts.

In the beginning, I used a common stepper motor driver DRV8825. this driver is a square wave driver and generates a lot of noise.

So I developed a stepper motor driver using SPWM signal drive based on what I learned. I then added a magnetic encoder and the SPWM driver was changed to SVPWM and current loop closed loop control was added. The end result was very good vibration control and quietness.

Related devices has been opensourced in my github.