Unless someone has already done it, you would need to adapt existing firmware to cope with the different hardware configuration. One option would be to start from Marlin4Due. Another would be to start from RepRapFirmware and strip out the webserver and Ethernet code. I'm not sufficiently familiar with Repetier, Sailfish or Teacup to know whether there are 32-bit ports of those.
Does the Zero have enough I/O pins?
Large delta printer [miscsolutions.wordpress.com], E3D tool changer, Robotdigg SCARA printer, Crane Quad and Ormerod
Disclosure: I design Duet electronics and work on RepRapFirmware, [duet3d.com].