Merge remote-tracking branch 'upstream/MK3' into MK3

sync with upstream

Firmware/Configuration.h

@@ -430,10 +430,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
 //#define DEFAULT_XJERK                 5.0    // (mm/sec)
 //#define DEFAULT_YJERK                 5.0    // (mm/sec)
-#define DEFAULT_XJERK                 2.5    // (mm/sec)
-#define DEFAULT_YJERK                 2.5    // (mm/sec)
-#define DEFAULT_ZJERK                 0.2    // (mm/sec)
-#define DEFAULT_EJERK                 2.5    // (mm/sec)
+//#define DEFAULT_ZJERK                 0.2    // (mm/sec)
+//#define DEFAULT_EJERK                 2.5    // (mm/sec)
+#define DEFAULT_XJERK                 0.5      // (mm/sec)
+#define DEFAULT_YJERK                 0.5      // (mm/sec)
+#define DEFAULT_ZJERK                 0.1      // (mm/sec)
+#define DEFAULT_EJERK                 0.5      // (mm/sec)
 
 //===========================================================================
 //=============================Additional Features===========================

Firmware/Marlin_main.cpp

@@ -1059,6 +1059,12 @@ void setup()
 	tp_init();    // Initialize temperature loop
 	plan_init();  // Initialize planner;
 	watchdog_init();
+
+#ifdef HAVE_TMC2130_DRIVERS
+	uint8_t silentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT);
+	tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
+#endif //HAVE_TMC2130_DRIVERS
+
 	st_init();    // Initialize stepper, this enables interrupts!
 	setup_photpin();
 	servo_init();
@@ -1372,6 +1378,9 @@ void loop()
   isPrintPaused ? manage_inactivity(true) : manage_inactivity(false);
   checkHitEndstops();
   lcd_update();
+#ifdef HAVE_TMC2130_DRIVERS
+	tmc2130_check_overtemp();
+#endif //HAVE_TMC2130_DRIVERS
 }
 
 void get_command()
@@ -5522,10 +5531,35 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
     }
     break;
 
-	case 913: // M912 Print TMC2130 currents
+	case 913: // M913 Print TMC2130 currents
     {
 		tmc2130_print_currents();
     }
+    break;
+
+	case 914: // M914 Set normal mode
+    {
+		tmc2130_mode = TMC2130_MODE_NORMAL;
+		tmc2130_init();
+    }
+    break;
+
+	case 915: // M915 Set silent mode
+    {
+		tmc2130_mode = TMC2130_MODE_SILENT;
+		tmc2130_init();
+    }
+    break;
+
+	case 916: // M916 Set sg_thrs
+    {
+		if (code_seen('X')) sg_thrs_x = code_value();
+		if (code_seen('Y')) sg_thrs_y = code_value();
+		MYSERIAL.print("sg_thrs_x=");
+		MYSERIAL.print(sg_thrs_x, DEC);
+		MYSERIAL.print(" sg_thrs_y=");
+		MYSERIAL.println(sg_thrs_y, DEC);
+    }
     break;
 
     case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
@@ -5777,6 +5811,10 @@ void get_coordinates()
   }
   if(code_seen('F')) {
     next_feedrate = code_value();
+#ifdef MAX_SILENT_FEEDRATE
+	if (tmc2130_mode == TMC2130_MODE_SILENT)
+		if (next_feedrate > MAX_SILENT_FEEDRATE) next_feedrate = MAX_SILENT_FEEDRATE;
+#endif //MAX_SILENT_FEEDRATE
     if(next_feedrate > 0.0) feedrate = next_feedrate;
   }
 }

Firmware/stepper.cpp

@@ -83,7 +83,7 @@ static bool old_y_max_endstop=false;
 static bool old_z_min_endstop=false;
 static bool old_z_max_endstop=false;
 
-#ifdef SG_HOMING_SW
+#ifdef TMC2130_SG_HOMING_SW
 static bool check_endstops = false;
 #else
 static bool check_endstops = true;
@@ -286,6 +286,7 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
   else {
     step_loops = 1;
   }
+//    step_loops = 1;
 
   if(step_rate < (F_CPU/500000)) step_rate = (F_CPU/500000);
   step_rate -= (F_CPU/500000); // Correct for minimal speed
@@ -405,11 +406,11 @@ ISR(TIMER1_COMPA_vect)
       {
         {
           #if defined(X_MIN_PIN) && X_MIN_PIN > -1
-			#ifndef SG_HOMING_SW
+			#ifndef TMC2130_SG_HOMING_SW
 				bool x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
-			#else //SG_HOMING_SW
+			#else //TMC2130_SG_HOMING_SW
 				bool x_min_endstop = tmc2130_axis_stalled[X_AXIS];
-			#endif //SG_HOMING_SW
+			#endif //TMC2130_SG_HOMING_SW
             if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
               endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
               endstop_x_hit=true;
@@ -425,11 +426,11 @@ ISR(TIMER1_COMPA_vect)
       {
         {
           #if defined(X_MAX_PIN) && X_MAX_PIN > -1
-			#ifndef SG_HOMING_SW
+			#ifndef TMC2130_SG_HOMING_SW
 				bool x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
-			#else //SG_HOMING_SW
+			#else //TMC2130_SG_HOMING_SW
 				bool x_max_endstop = tmc2130_axis_stalled[X_AXIS];
-			#endif //SG_HOMING_SW
+			#endif //TMC2130_SG_HOMING_SW
             if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
               endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
               endstop_x_hit=true;
@@ -449,11 +450,11 @@ ISR(TIMER1_COMPA_vect)
       CHECK_ENDSTOPS
       {
         #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
-			#ifndef SG_HOMING_SW
+			#ifndef TMC2130_SG_HOMING_SW
 				bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
-			#else //SG_HOMING_SW
+			#else //TMC2130_SG_HOMING_SW
 				bool y_min_endstop = tmc2130_axis_stalled[Y_AXIS];
-			#endif //SG_HOMING_SW
+			#endif //TMC2130_SG_HOMING_SW
           if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
             endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
             endstop_y_hit=true;
@@ -467,11 +468,11 @@ ISR(TIMER1_COMPA_vect)
       CHECK_ENDSTOPS
       {
         #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
-			#ifndef SG_HOMING_SW
+			#ifndef TMC2130_SG_HOMING_SW
 				bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
-			#else //SG_HOMING_SW
+			#else //TMC2130_SG_HOMING_SW
 				bool y_max_endstop = tmc2130_axis_stalled[Y_AXIS];
-			#endif //SG_HOMING_SW
+			#endif //TMC2130_SG_HOMING_SW
           if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
             endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
             endstop_y_hit=true;

Firmware/stepper.h

@@ -92,21 +92,6 @@ void microstep_readings();
 
 static void check_fans();
 
-#ifdef HAVE_TMC2130_DRIVERS
-void tmc2130_check_overtemp();
-
-void tmc2130_write(uint8_t chipselect, uint8_t address, uint8_t wval1, uint8_t wval2, uint8_t wval3, uint8_t wval4);
-uint8_t tmc2130_read8(uint8_t chipselect, uint8_t address);
-uint16_t tmc2130_readSG(uint8_t chipselect);
-uint16_t tmc2130_readTStep(uint8_t chipselect);
-void tmc2130_PWMconf(uint8_t cs, uint8_t PWMgrad, uint8_t PWMampl);
-
-void st_setSGHoming(uint8_t axis);
-void st_resetSGflags();
-uint8_t st_didLastHomingStall();
-
-#endif
-
 
 #ifdef BABYSTEPPING
   void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention

Firmware/tmc2130.cpp

@@ -11,6 +11,8 @@ extern void st_get_position_xy(long &x, long &y);
 
 //chipselect pins
 uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
+//mode
+uint8_t tmc2130_mode = TMC2130_MODE_NORMAL;
 //holding currents
 uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
 //running currents
@@ -22,23 +24,62 @@ uint8_t tmc2130_LastHomingStalled = 0;
 
 uint8_t sg_homing_axis = 0xff;
 uint8_t sg_homing_delay = 0;
+uint8_t sg_thrs_x = TMC2130_SG_THRS_X;
+uint8_t sg_thrs_y = TMC2130_SG_THRS_Y;
+
+
+//TMC2130 registers
+#define TMC2130_REG_GCONF      0x00 // 17 bits
+#define TMC2130_REG_GSTAT      0x01 // 3 bits
+#define TMC2130_REG_IOIN       0x04 // 8+8 bits
+#define TMC2130_REG_IHOLD_IRUN 0x10 // 5+5+4 bits
+#define TMC2130_REG_TPOWERDOWN 0x11 // 8 bits
+#define TMC2130_REG_TSTEP      0x12 // 20 bits
+#define TMC2130_REG_TPWMTHRS   0x13 // 20 bits
+#define TMC2130_REG_TCOOLTHRS  0x14 // 20 bits
+#define TMC2130_REG_THIGH      0x15 // 20 bits
+#define TMC2130_REG_XDIRECT    0x2d // 32 bits
+#define TMC2130_REG_VDCMIN     0x33 // 23 bits
+#define TMC2130_REG_MSLUT0     0x60 // 32 bits
+#define TMC2130_REG_MSLUT1     0x61 // 32 bits
+#define TMC2130_REG_MSLUT2     0x62 // 32 bits
+#define TMC2130_REG_MSLUT3     0x63 // 32 bits
+#define TMC2130_REG_MSLUT4     0x64 // 32 bits
+#define TMC2130_REG_MSLUT5     0x65 // 32 bits
+#define TMC2130_REG_MSLUT6     0x66 // 32 bits
+#define TMC2130_REG_MSLUT7     0x67 // 32 bits
+#define TMC2130_REG_MSLUTSEL   0x68 // 32 bits
+#define TMC2130_REG_MSLUTSTART 0x69 // 8+8 bits
+#define TMC2130_REG_MSCNT      0x6a // 10 bits
+#define TMC2130_REG_MSCURACT   0x6b // 9+9 bits
+#define TMC2130_REG_CHOPCONF   0x6c // 32 bits
+#define TMC2130_REG_COOLCONF   0x6d // 25 bits
+#define TMC2130_REG_DCCTRL     0x6e // 24 bits
+#define TMC2130_REG_DRV_STATUS 0x6f // 32 bits
+#define TMC2130_REG_PWMCONF    0x70 // 22 bits
+#define TMC2130_REG_PWM_SCALE  0x71 // 8 bits
+#define TMC2130_REG_ENCM_CTRL  0x72 // 2 bits
+#define TMC2130_REG_LOST_STEPS 0x73 // 20 bits
+
+
+uint16_t tmc2130_rd_TSTEP(uint8_t cs);
+uint16_t tmc2130_rd_DRV_STATUS(uint8_t chipselect);
+
+void tmc2130_wr_CHOPCONF(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16);
+void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t PWMautoScale = TMC2130_PWM_AUTO, uint8_t PWMfreq = TMC2130_PWM_FREQ, uint8_t PWMgrad = TMC2130_PWM_GRAD, uint8_t PWMampl = TMC2130_PWM_AMPL);
+void tmc2130_wr_TPWMTHRS(uint8_t cs, uint32_t val32);
+void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32);
+
+uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval);
+uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval);
+uint8_t tmc2130_rd(uint8_t cs, uint8_t addr, uint32_t* rval);
 
 
-uint32_t tmc2130_read(uint8_t cs, uint8_t address);
-void tmc2130_write(uint8_t cs, uint8_t address, uint8_t wval1, uint8_t wval2, uint8_t wval3, uint8_t wval4);
-uint8_t tmc2130_read8(uint8_t cs, uint8_t address);
-uint32_t tmc2130_readRegister(uint8_t cs, uint8_t address);
-uint16_t tmc2130_readSG(uint8_t cs);
-uint16_t tmc2130_readTStep(uint8_t cs);
-void tmc2130_chopconf(uint8_t cs, bool extrapolate256 = 0, uint16_t microstep_resolution = 16);
-void tmc2130_PWMconf(uint8_t cs, uint8_t PWMautoScale = PWM_AUTOSCALE, uint8_t PWMfreq = PWM_FREQ, uint8_t PWMgrad = PWM_GRAD, uint8_t PWMampl = PWM_AMPL);
-void tmc2130_PWMthreshold(uint8_t cs);
-void tmc2130_disable_motor(uint8_t driver);
-
 
 void tmc2130_init()
 {
-	MYSERIAL.println("tmc2130_init");
+	MYSERIAL.print("tmc2130_init mode=");
+	MYSERIAL.println(tmc2130_mode, DEC);
 	WRITE(X_TMC2130_CS, HIGH);
 	WRITE(Y_TMC2130_CS, HIGH);
 	WRITE(Z_TMC2130_CS, HIGH);
@@ -48,37 +89,49 @@ void tmc2130_init()
 	SET_OUTPUT(Z_TMC2130_CS);
 	SET_OUTPUT(E0_TMC2130_CS);
 	SPI.begin();
-	for (int i = 0; i < 3; i++) //X Y Z axes
+	for (int i = 0; i < 2; i++) // X Y axes
+	{
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?0x00000004:0x00000000);
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
+		tmc2130_wr_PWMCONF(tmc2130_cs[i]); //PWM_CONF //reset default=0x00050480
+		tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
+		//tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH);
+		tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_XY, TMC2130_USTEPS_XY);
+	}
+	for (int i = 2; i < 3; i++) // Z axis
 	{
-		tmc2130_write(tmc2130_cs[i], 0x00, 0, 0, 0, 0x04); //address=0x0 GCONF - bit 2 activate stealthChop
-		tmc2130_write(tmc2130_cs[i], 0x10, 0, 15, tmc2130_current_r[i], tmc2130_current_h[i]); //0x10 IHOLD_IRUN
-		tmc2130_write(tmc2130_cs[i], 0x11, 0, 0, 0, 0);
-		tmc2130_PWMconf(tmc2130_cs[i]); //address=0x70 PWM_CONF //reset default=0x00050480
-		//tmc2130_PWMthreshold(tmc2130_cs[i]);
-		tmc2130_chopconf(tmc2130_cs[i], 1, 16);
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?0x00000004:0x00000000);
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
+		tmc2130_wr_PWMCONF(tmc2130_cs[i]); //PWM_CONF //reset default=0x00050480
+		tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
+		//tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH);
+		tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_Z, TMC2130_USTEPS_Z);
 	}
-	for (int i = 3; i < 4; i++) //E axis
+	for (int i = 3; i < 4; i++) // E axis
 	{
-		tmc2130_write(tmc2130_cs[i], 0x00, 0, 0, 0, 0x00); //address=0x0 GCONF - bit 2 activate stealthChop
-		tmc2130_write(tmc2130_cs[i], 0x10, 0, 15, tmc2130_current_r[i], tmc2130_current_h[i]); //0x10 IHOLD_IRUN
-		tmc2130_write(tmc2130_cs[i], 0x11, 0, 0, 0, 0);
-		tmc2130_chopconf(tmc2130_cs[i], 1, 16);
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000004); //GCONF - bit 2 activate stealthChop
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
+		tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_E, TMC2130_USTEPS_E);
 	}
 }
 
 bool tmc2130_update_sg()
 {
+#if (defined(TMC2130_SG_HOMING) && defined(TMC2130_SG_HOMING_SW))
 	if ((sg_homing_axis == X_AXIS) || (sg_homing_axis == Y_AXIS))
 	{
 		uint8_t cs = tmc2130_cs[sg_homing_axis];
-		uint16_t tstep = tmc2130_readTStep(cs);
-		if (tstep < TCOOLTHRS)
+		uint16_t tstep = tmc2130_rd_TSTEP(cs);
+		if (tstep < TMC2130_TCOOLTHRS)
 		{
 			if(sg_homing_delay < 10) // wait for a few tens microsteps until stallGuard is used //todo: read out microsteps directly, instead of delay counter
 				sg_homing_delay++;
 			else
 			{
-				uint16_t sg = tmc2130_readSG(cs);
+				uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
 				if (sg==0)
 				{
 					tmc2130_axis_stalled[sg_homing_axis] = true;
@@ -97,25 +150,29 @@ bool tmc2130_update_sg()
 		tmc2130_axis_stalled[X_AXIS] = false;
 		tmc2130_axis_stalled[Y_AXIS] = false;
 	}
+#endif
 	return false;
 }
 
 void tmc2130_check_overtemp()
 {
 	const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
+	uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
 	static uint32_t checktime = 0;
 	//drivers_disabled[0] = 1; //TEST
 	if( millis() - checktime > 1000 )
 	{
-		for(int i = 0; i < 4; i++)
+		for(int i=0;i<4;i++)
 		{
-			uint32_t drv_status = tmc2130_read(tmc2130_cs[i], 0x6F); //0x6F DRV_STATUS
+			uint32_t drv_status = 0;
+			tmc2130_rd(cs[i], TMC2130_REG_DRV_STATUS, &drv_status);
 			if (drv_status & ((uint32_t)1<<26))
 			{ // BIT 26 - over temp prewarning ~120C (+-20C)
 				SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
 				SERIAL_ECHOLN(i);
-				for(int x = 0; x < 4; x++) tmc2130_disable_motor(x);
-					kill(TMC_OVERTEMP_MSG);
+				for(int i=0; i < 4; i++)
+					tmc2130_wr(tmc2130_cs[i], TMC2130_REG_CHOPCONF, 0x00010000);
+				kill(TMC_OVERTEMP_MSG);
 			}
 		}
 		checktime = millis();
@@ -126,27 +183,36 @@ void tmc2130_home_enter(uint8_t axis)
 {
 	MYSERIAL.print("tmc2130_home_enter ");
 	MYSERIAL.println((int)axis);
+#ifdef TMC2130_SG_HOMING
 	uint8_t cs = tmc2130_cs[axis];
 	sg_homing_axis = axis;
 	sg_homing_delay = 0;
 	tmc2130_axis_stalled[X_AXIS] = false;
 	tmc2130_axis_stalled[Y_AXIS] = false;
 	//Configuration to spreadCycle
-	//tmc2130_write(cs, 0x0, 0, 0, 0, 0x01);
-	tmc2130_write(cs, 0x0, 0, 0, 0, 0x00);
-	tmc2130_write(cs, 0x6D, 0, (axis == X_AXIS)?SG_THRESHOLD_X:SG_THRESHOLD_Y,0,0);
-	tmc2130_write(cs, 0x14, 0, 0, 0, TCOOLTHRS);
+	tmc2130_wr(cs, TMC2130_REG_GCONF, 0x00000000);
+	tmc2130_wr(cs, TMC2130_REG_COOLCONF, ((axis == X_AXIS)?sg_thrs_x:sg_thrs_y) << 16);
+	tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, TMC2130_TCOOLTHRS);
+#ifndef TMC2130_SG_HOMING_SW
+	tmc2130_wr(cs, TMC2130_REG_GCONF, 0x00000080); //stallguard output to DIAG0
+#endif
+#endif
 }
 
 void tmc2130_home_exit()
 {
-	MYSERIAL.println("tmc2130_home_exit");
+	MYSERIAL.println("tmc2130_home_exit ");
+	MYSERIAL.println((int)sg_homing_axis);
+#ifdef TMC2130_SG_HOMING
 	if ((sg_homing_axis == X_AXIS) || (sg_homing_axis == Y_AXIS))
 	{
-		// Configuration back to stealthChop
-		tmc2130_write(tmc2130_cs[sg_homing_axis], 0x0, 0, 0, 0, 0x04);
+		if (tmc2130_mode == TMC2130_MODE_SILENT)
+			tmc2130_wr(tmc2130_cs[sg_homing_axis], TMC2130_REG_GCONF, 0x00000004); // Configuration back to stealthChop
+		else
+			tmc2130_wr(tmc2130_cs[sg_homing_axis], TMC2130_REG_GCONF, 0x00000000);
 		sg_homing_axis = 0xff;
 	}
+#endif
 }
 
 extern uint8_t tmc2130_didLastHomingStall()
@@ -164,7 +230,7 @@ void tmc2130_set_current_h(uint8_t axis, uint8_t current)
 	MYSERIAL.println((int)current);
 	if (current > 15) current = 15; //current>15 is unsafe
 	tmc2130_current_h[axis] = current;
-	tmc2130_write(tmc2130_cs[axis], 0x10, 0, 15, tmc2130_current_r[axis], tmc2130_current_h[axis]); //0x10 IHOLD_IRUN
+	tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
 }
 
 void tmc2130_set_current_r(uint8_t axis, uint8_t current)
@@ -175,230 +241,151 @@ void tmc2130_set_current_r(uint8_t axis, uint8_t current)
 	MYSERIAL.println((int)current);
 	if (current > 15) current = 15; //current>15 is unsafe
 	tmc2130_current_r[axis] = current;
-	tmc2130_write(tmc2130_cs[axis], 0x10, 0, 15, tmc2130_current_r[axis], tmc2130_current_h[axis]); //0x10 IHOLD_IRUN
+	tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
 }
 
 void tmc2130_print_currents()
 {
 	MYSERIAL.println("tmc2130_print_currents");
 	MYSERIAL.println("\tH\rR");
-
 	MYSERIAL.print("X\t");
 	MYSERIAL.print((int)tmc2130_current_h[0]);
 	MYSERIAL.print("\t");
 	MYSERIAL.println((int)tmc2130_current_r[0]);
-
 	MYSERIAL.print("Y\t");
 	MYSERIAL.print((int)tmc2130_current_h[1]);
 	MYSERIAL.print("\t");
 	MYSERIAL.println((int)tmc2130_current_r[1]);
-
 	MYSERIAL.print("Z\t");
 	MYSERIAL.print((int)tmc2130_current_h[2]);
 	MYSERIAL.print("\t");
 	MYSERIAL.println((int)tmc2130_current_r[2]);
-
 	MYSERIAL.print("E\t");
 	MYSERIAL.print((int)tmc2130_current_h[3]);
 	MYSERIAL.print("\t");
 	MYSERIAL.println((int)tmc2130_current_r[3]);
 }
 
-uint32_t tmc2130_read(uint8_t cs, uint8_t address)
+uint16_t tmc2130_rd_TSTEP(uint8_t cs)
 {
-	uint32_t val32;
-	uint8_t val0;
-	uint8_t val1;
-	uint8_t val2;
-	uint8_t val3;
-	uint8_t val4;
-	//datagram1 - read request (address + dummy write)
-	SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
-	digitalWrite(cs,LOW);
-	SPI.transfer(address);
-	SPI.transfer(0);
-	SPI.transfer(0);
-	SPI.transfer(0);
-	SPI.transfer(0);
-	digitalWrite(cs, HIGH);
-	SPI.endTransaction();
-	//datagram2 - response
-	SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE3));
-	digitalWrite(cs,LOW);
-	val0 = SPI.transfer(0);
-	val1 = SPI.transfer(0);
-	val2 = SPI.transfer(0);
-	val3 = SPI.transfer(0);
-	val4 = SPI.transfer(0);
-	digitalWrite(cs, HIGH);
-	SPI.endTransaction();
-#ifdef TMC_DBG_READS
-	MYSERIAL.print("SPIRead 0x");
-	MYSERIAL.print(address,HEX);
-	MYSERIAL.print(" Status:");
-	MYSERIAL.print(val0 & 0b00000111,BIN);
-	MYSERIAL.print("  ");
-	MYSERIAL.print(val1,BIN);
-	MYSERIAL.print("  ");
-	MYSERIAL.print(val2,BIN);
-	MYSERIAL.print("  ");
-	MYSERIAL.print(val3,BIN);
-	MYSERIAL.print("  ");
-	MYSERIAL.print(val4,BIN);
-#endif
-	val32 = (uint32_t)val1<<24 | (uint32_t)val2<<16 | (uint32_t)val3<<8 | (uint32_t)val4;
-#ifdef TMC_DBG_READS
-	MYSERIAL.print(" 0x");
-	MYSERIAL.println(val32,HEX);
-#endif
-	return val32;
+	uint32_t val32 = 0;
+	tmc2130_rd(cs, TMC2130_REG_TSTEP, &val32);
+	if (val32 & 0x000f0000) return 0xffff;
+	return val32 & 0xffff;
 }
 
-void tmc2130_write(uint8_t cs, uint8_t address,uint8_t wval1,uint8_t wval2,uint8_t wval3,uint8_t wval4)
+uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs)
 {
-	uint32_t val32;
-	uint8_t val0;
-	uint8_t val1;
-	uint8_t val2;
-	uint8_t val3;
-	uint8_t val4;
-	//datagram1 - write
-	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
-	digitalWrite(cs,LOW);
-	SPI.transfer(address+0x80);
-	SPI.transfer(wval1);
-	SPI.transfer(wval2);
-	SPI.transfer(wval3);
-	SPI.transfer(wval4);
-	digitalWrite(cs, HIGH);
-	SPI.endTransaction();
-	//datagram2 - response
-	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
-	digitalWrite(cs,LOW);
-	val0 = SPI.transfer(0);
-	val1 = SPI.transfer(0);
-	val2 = SPI.transfer(0);
-	val3 = SPI.transfer(0);
-	val4 = SPI.transfer(0);
-	digitalWrite(cs, HIGH);
-	SPI.endTransaction();
-#ifdef TMC_DBG_WRITE
-	MYSERIAL.print("WriteRead 0x");
-	MYSERIAL.print(address,HEX);
-	MYSERIAL.print(" Status:");
-	MYSERIAL.print(val0 & 0b00000111,BIN);
-	MYSERIAL.print("  ");
-	MYSERIAL.print(val1,BIN);
-	MYSERIAL.print("  ");
-	MYSERIAL.print(val2,BIN);
-	MYSERIAL.print("  ");
-	MYSERIAL.print(val3,BIN);
-	MYSERIAL.print("  ");
-	MYSERIAL.print(val4,BIN);
-	val32 = (uint32_t)val1<<24 | (uint32_t)val2<<16 | (uint32_t)val3<<8 | (uint32_t)val4;
-	MYSERIAL.print(" 0x");
-	MYSERIAL.println(val32,HEX);
-#endif //TMC_DBG_READS
+	uint32_t val32 = 0;
+	tmc2130_rd(cs, TMC2130_REG_DRV_STATUS, &val32);
+	return val32;
 }
 
-uint8_t tmc2130_read8(uint8_t cs, uint8_t address)
+void tmc2130_wr_CHOPCONF(uint8_t cs, bool extrapolate256, uint16_t microstep_resolution)
 {
-	//datagram1 - write
-	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
-	digitalWrite(cs,LOW);
-	SPI.transfer(address);
-	SPI.transfer(0x00);
-	SPI.transfer(0x00);
-	SPI.transfer(0x00);
-	SPI.transfer(0x00);
-	digitalWrite(cs, HIGH);
-	SPI.endTransaction();
-	uint8_t val0;
-	//datagram2 - response
-	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
-	digitalWrite(cs,LOW);
-	val0 = SPI.transfer(0);
-	digitalWrite(cs, HIGH);
-	SPI.endTransaction();
-	return val0;
+	uint8_t mres=0b0100;
+	if(microstep_resolution == 256) mres = 0b0000;
+	if(microstep_resolution == 128) mres = 0b0001;
+	if(microstep_resolution == 64)  mres = 0b0010;
+	if(microstep_resolution == 32)  mres = 0b0011;
+	if(microstep_resolution == 16)  mres = 0b0100;
+	if(microstep_resolution == 8)   mres = 0b0101;
+	if(microstep_resolution == 4)   mres = 0b0110;
+	if(microstep_resolution == 2)   mres = 0b0111;
+	if(microstep_resolution == 1)   mres = 0b1000;
+	mres |= extrapolate256 << 4; //bit28 intpol
+	//tmc2130_write(cs,0x6C,mres,0x01,0x00,0xD3);
+//	tmc2130_write(cs,0x6C,mres,0x01,0x00,0xC3);
+	tmc2130_wr(cs,TMC2130_REG_CHOPCONF,((uint32_t)mres << 24) | 0x0100C3);
 }
 
-uint32_t tmc2130_readRegister(uint8_t cs, uint8_t address)
+void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
 {
-	//datagram1 - write
-	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
-	digitalWrite(cs,LOW);
-	SPI.transfer(address);
-	SPI.transfer(0x00);
-	SPI.transfer(0x00);
-	SPI.transfer(0x00);
-	SPI.transfer(0x00);
-	digitalWrite(cs, HIGH);
-	SPI.endTransaction();
-	uint32_t val0;
-	//datagram2 - response
-	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
-	digitalWrite(cs,LOW);
-	SPI.transfer(0); // ignore status bits
-	val0 = SPI.transfer(0); // MSB
-	val0 = (val0 << 8) | SPI.transfer(0);
-	val0 = (val0 << 8) | SPI.transfer(0);
-	val0 = (val0 << 8) | SPI.transfer(0); //LSB
-	digitalWrite(cs, HIGH);
-	SPI.endTransaction();
-	return val0;
+	tmc2130_wr(cs, TMC2130_REG_PWMCONF, ((uint32_t)(PWMautoScale+PWMfreq) << 16) | ((uint32_t)PWMgrad << 8) | PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
 }
 
-uint16_t tmc2130_readSG(uint8_t cs)
+void tmc2130_wr_TPWMTHRS(uint8_t cs, uint32_t val32)
 {
-	uint8_t address = 0x6F;
-	uint32_t registerValue = tmc2130_readRegister(cs, address);
-	uint16_t val0 = registerValue & 0x3ff;
-	return val0;
+	tmc2130_wr(cs, TMC2130_REG_TPWMTHRS, val32);
 }
 
-uint16_t tmc2130_readTStep(uint8_t cs)
+void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32)
 {
-	uint8_t address = 0x12;
-	uint32_t registerValue = tmc2130_readRegister(cs, address);
-	uint16_t val0 = 0;
-	if(registerValue & 0x000f0000)
-		val0 = 0xffff;
-	else
-		val0 = registerValue & 0xffff;
-	return val0;
+	tmc2130_wr(cs, TMC2130_REG_THIGH, val32);
 }
 
-void tmc2130_chopconf(uint8_t cs, bool extrapolate256, uint16_t microstep_resolution)
+
+uint8_t tmc2130_axis_by_cs(uint8_t cs)
 {
-	uint8_t mres = 0b0100;
-	if(microstep_resolution == 256) mres = 0b0000;
-	if(microstep_resolution == 128) mres = 0b0001;
-	if(microstep_resolution == 64)  mres = 0b0010;
-	if(microstep_resolution == 32)  mres = 0b0011;
-	if(microstep_resolution == 16)  mres = 0b0100;
-	if(microstep_resolution == 8)   mres = 0b0101;
-	if(microstep_resolution == 4)   mres = 0b0110;
-	if(microstep_resolution == 2)   mres = 0b0111;
-	if(microstep_resolution == 1)   mres = 0b1000;
-	mres |= extrapolate256 << 4; //bit28 intpol
-	//tmc2130_write(cs, 0x6C, mres, 0x01, 0x00, 0xD3);
-	tmc2130_write(cs, 0x6C, mres, 0x01, 0x00, 0xC3);
+	switch (cs)
+	{
+	case X_TMC2130_CS: return 0;
+	case Y_TMC2130_CS: return 1;
+	case Z_TMC2130_CS: return 2;
+	case E0_TMC2130_CS: return 3;
+	}
+	return -1;
 }
 
-void tmc2130_PWMconf(uint8_t cs, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
+uint8_t tmc2130_wr(uint8_t cs, uint8_t addr, uint32_t wval)
 {
-	tmc2130_write(cs, 0x70, 0x00, (PWMautoScale+PWMfreq), PWMgrad, PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
+	uint8_t stat = tmc2130_txrx(cs, addr | 0x80, wval, 0);
+#ifdef TMC2130_DEBUG_WR
+	MYSERIAL.print("tmc2130_wr(");
+	MYSERIAL.print((unsigned char)tmc2130_axis_by_cs(cs), DEC);
+	MYSERIAL.print(", 0x");
+	MYSERIAL.print((unsigned char)addr, HEX);
+	MYSERIAL.print(", 0x");
+	MYSERIAL.print((unsigned long)wval, HEX);
+	MYSERIAL.print(")=0x");
+	MYSERIAL.println((unsigned char)stat, HEX);
+#endif //TMC2130_DEBUG_WR
+	return stat;
 }
 
-void tmc2130_PWMthreshold(uint8_t cs)
+uint8_t tmc2130_rd(uint8_t cs, uint8_t addr, uint32_t* rval)
 {
-	tmc2130_write(cs, 0x13, 0x00, 0x00, 0x00, 0x00); // TMC LJ -> Adds possibility to swtich from stealthChop to spreadCycle automatically
+	uint32_t val32 = 0;
+	uint8_t stat = tmc2130_txrx(cs, addr, 0x00000000, &val32);
+	if (rval != 0) *rval = val32;
+#ifdef TMC2130_DEBUG_RD
+	MYSERIAL.print("tmc2130_rd(");
+	MYSERIAL.print((unsigned char)tmc2130_axis_by_cs(cs), DEC);
+	MYSERIAL.print(", 0x");
+	MYSERIAL.print((unsigned char)addr, HEX);
+	MYSERIAL.print(", 0x");
+	MYSERIAL.print((unsigned long)val32, HEX);
+	MYSERIAL.print(")=0x");
+	MYSERIAL.println((unsigned char)stat, HEX);
+#endif //TMC2130_DEBUG_RD
+	return stat;
 }
 
-void tmc2130_disable_motor(uint8_t driver)
+uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval)
 {
-	tmc2130_write(tmc2130_cs[driver], 0x6C, 0, 01, 0, 0);
+	//datagram1 - request
+	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
+	digitalWrite(cs, LOW);
+	SPI.transfer(addr); // address
+	SPI.transfer((wval >> 24) & 0xff); // MSB
+	SPI.transfer((wval >> 16) & 0xff);
+	SPI.transfer((wval >> 8) & 0xff);
+	SPI.transfer(wval & 0xff); // LSB
+	digitalWrite(cs, HIGH);
+	SPI.endTransaction();
+	//datagram2 - response
+	SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
+	digitalWrite(cs, LOW);
+	uint8_t stat = SPI.transfer(0); // status
+	uint32_t val32 = 0;
+	val32 = SPI.transfer(0); // MSB
+	val32 = (val32 << 8) | SPI.transfer(0);
+	val32 = (val32 << 8) | SPI.transfer(0);
+	val32 = (val32 << 8) | SPI.transfer(0); // LSB
+	digitalWrite(cs, HIGH);
+	SPI.endTransaction();
+	if (rval != 0) *rval = val32;
+	return stat;
 }
 
 #endif //HAVE_TMC2130_DRIVERS

Firmware/tmc2130.h

@@ -1,14 +1,19 @@
 #ifndef TMC2130_H
 #define TMC2130_H
 
+//mode
+extern uint8_t tmc2130_mode;
 //holding and running currents
 extern uint8_t tmc2130_current_h[4];
 extern uint8_t tmc2130_current_r[4];
 //flags for axis stall detection
 extern uint8_t tmc2130_axis_stalled[4];
 
-extern uint8_t sg_homing_delay;
+extern uint8_t sg_thrs_x;
+extern uint8_t sg_thrs_y;
 
+#define TMC2130_MODE_NORMAL 0
+#define TMC2130_MODE_SILENT 1
 
 //initialize tmc2130
 extern void tmc2130_init();
@@ -23,11 +28,12 @@ extern void tmc2130_home_exit();
 //
 extern uint8_t tmc2130_didLastHomingStall();
 
-//set holding current for any axis (G911)
+//set holding current for any axis (M911)
 extern void tmc2130_set_current_h(uint8_t axis, uint8_t current);
-//set running current for any axis (G912)
+//set running current for any axis (M912)
 extern void tmc2130_set_current_r(uint8_t axis, uint8_t current);
-//print currents
+//print currents (M913)
 extern void tmc2130_print_currents();
 
+
 #endif //TMC2130_H

Firmware/ultralcd.cpp

@@ -16,6 +16,10 @@
 #include "SdFatUtil.h"
 #include "pat9125.h"
 
+#ifdef HAVE_TMC2130_DRIVERS
+#include "tmc2130.h"
+#endif //HAVE_TMC2130_DRIVERS
+
 #define _STRINGIFY(s) #s
 
 
@@ -2401,6 +2405,10 @@ void EEPROM_read(int pos, uint8_t* value, uint8_t size)
 static void lcd_silent_mode_set() {
   SilentModeMenu = !SilentModeMenu;
   eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
+#ifdef HAVE_TMC2130_DRIVERS
+	tmc2130_mode = SilentModeMenu?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
+	tmc2130_init();
+#endif //HAVE_TMC2130_DRIVERS
   digipot_init();
   lcd_goto_menu(lcd_settings_menu, 7);
 }
@@ -3846,6 +3854,10 @@ static void lcd_autostart_sd()
 static void lcd_silent_mode_set_tune() {
   SilentModeMenu = !SilentModeMenu;
   eeprom_update_byte((unsigned char*)EEPROM_SILENT, SilentModeMenu);
+#ifdef HAVE_TMC2130_DRIVERS
+	tmc2130_mode = SilentModeMenu?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
+	tmc2130_init();
+#endif //HAVE_TMC2130_DRIVERS
   digipot_init();
   lcd_goto_menu(lcd_tune_menu, 9);
 }

Firmware/variants/1_75mm_MK2-EINY03-E3Dv6full.h

@@ -0,0 +1,445 @@
+#ifndef CONFIGURATION_PRUSA_H
+#define CONFIGURATION_PRUSA_H
+
+/*------------------------------------
+ GENERAL SETTINGS
+ *------------------------------------*/
+
+// Printer revision
+#define FILAMENT_SIZE "1_75mm_MK3"
+#define NOZZLE_TYPE "E3Dv6full"
+
+// Developer flag
+#define DEVELOPER
+
+// Printer name
+#define CUSTOM_MENDEL_NAME "Prusa i3 MK3"
+
+// Electronics
+//#define MOTHERBOARD BOARD_EINY_0_4a
+#define MOTHERBOARD BOARD_EINY_0_3a
+
+
+// Uncomment the below for the E3D PT100 temperature sensor (with or without PT100 Amplifier)
+//#define E3D_PT100_EXTRUDER_WITH_AMP
+//#define E3D_PT100_EXTRUDER_NO_AMP
+//#define E3D_PT100_BED_WITH_AMP
+//#define E3D_PT100_BED_NO_AMP
+
+
+/*------------------------------------
+ AXIS SETTINGS
+ *------------------------------------*/
+
+// Steps per unit {X,Y,Z,E}
+//#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,140}
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,280}
+//#define DEFAULT_AXIS_STEPS_PER_UNIT   {200,200,3200/4,560}
+
+// Endstop inverting
+const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Y_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+
+// Home position
+#define MANUAL_X_HOME_POS 0
+#define MANUAL_Y_HOME_POS -2.2
+#define MANUAL_Z_HOME_POS 0.2
+
+// Travel limits after homing
+#define X_MAX_POS 255
+#define X_MIN_POS 0
+#define Y_MAX_POS 210
+#define Y_MIN_POS -4
+#define Z_MAX_POS 210
+#define Z_MIN_POS 0.15
+
+// Canceled home position
+#define X_CANCEL_POS 50
+#define Y_CANCEL_POS 190
+
+//Pause print position
+#define X_PAUSE_POS 50
+#define Y_PAUSE_POS 190
+#define Z_PAUSE_LIFT 20
+
+#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
+#define HOMING_FEEDRATE {3000, 3000, 800, 0}  // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000
+
+//#define DEFAULT_MAX_FEEDRATE          {400, 400, 12, 120}    // (mm/sec)
+#define DEFAULT_MAX_FEEDRATE          {400, 400, 12, 120}    // (mm/sec)
+#define DEFAULT_MAX_ACCELERATION      {1000, 1000, 100, 5000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
+
+#define DEFAULT_ACCELERATION          1250   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  1250   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+
+
+#define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
+#define MAX_SILENT_FEEDRATE           2700   // 
+
+#define Z_AXIS_ALWAYS_ON 1
+
+/*------------------------------------
+ TMC2130 default settings
+ *------------------------------------*/
+
+// PWM register configuration
+//#define TMC2130_PWM_GRAD 0x08       // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
+//#define TMC2130_PWM_AMPL 0xC8       // 0xFF - Sets PWM amplitude to 200 (max is 255)
+#define TMC2130_PWM_GRAD 0x01       // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
+#define TMC2130_PWM_AMPL 0xc8       // 0xFF - Sets PWM amplitude to 200 (max is 255)
+#define TMC2130_PWM_AUTO 0x04       // 0x04 since writing in PWM_CONF (Activates PWM autoscaling)
+//#define TMC2130_PWM_FREQ 0x01       // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) 35.1kHz
+#define TMC2130_PWM_FREQ 0x02       // 0x02 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK) 46.9kHz
+
+#define TMC2130_USTEPS_XY 16
+#define TMC2130_USTEPS_Z  16
+#define TMC2130_USTEPS_E  16
+#define TMC2130_EXP256_XY 1
+#define TMC2130_EXP256_Z  1
+#define TMC2130_EXP256_E  1
+
+// Special configuration for XY axes for operation (during standstill, use same settings as for other axes) //todo
+// RP: this settings does not work (overtemp)
+//#define TMC2130_PWM_GRAD_XY 156     // 0x0F - Sets gradient - (max 15 with PWM autoscale activated)
+//#define TMC2130_PWM_AMPL_XY 63      // 0xFF - Sets PWM amplitude to 200 (max is 255)
+//#define TMC2130_PWM_AUTO_XY 0x00    // 0x04 since writing in PWM_CONF (Activates PWM autoscaling)
+//#define TMC2130_PWM_FREQ_XY 0x01    // 0x01 since writing in PWM_CONF (Sets PWM frequency to 2/683 fCLK)
+
+#define TMC2130_TPWMTHRS 0          // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
+#define TMC2130_THIGH 0             // THIGH - unused
+
+#define TMC2130_TCOOLTHRS 239       // TCOOLTHRS - coolstep treshold
+
+#define TMC2130_SG_HOMING     1     // stallguard homing
+#define TMC2130_SG_HOMING_SW  1     // stallguard "software" homing
+#define TMC2130_SG_THRS_X    12     // stallguard sensitivity for X axis
+#define TMC2130_SG_THRS_Y    12     // stallguard sensitivity for Y axis
+
+#define TMC2130_CURRENTS_H {2, 2, 2, 4}   // default holding currents for all axes
+#define TMC2130_CURRENTS_R {6, 6, 10, 8}  // default running currents for all axes
+#define TMC2130_DEBUG
+//#define TMC2130_DEBUG_WR
+//#define TMC2130_DEBUG_RD
+
+
+/*------------------------------------
+ EXTRUDER SETTINGS
+ *------------------------------------*/
+
+// Mintemps
+#define HEATER_0_MINTEMP 15
+#define HEATER_1_MINTEMP 5
+#define HEATER_2_MINTEMP 5
+#define BED_MINTEMP 15
+
+// Maxtemps
+#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
+#define HEATER_0_MAXTEMP 410
+#else
+#define HEATER_0_MAXTEMP 305
+#endif
+#define HEATER_1_MAXTEMP 305
+#define HEATER_2_MAXTEMP 305
+#define BED_MAXTEMP 150
+
+#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
+// Define PID constants for extruder with PT100
+#define  DEFAULT_Kp 21.70
+#define  DEFAULT_Ki 1.60
+#define  DEFAULT_Kd 73.76
+#else
+// Define PID constants for extruder
+#define  DEFAULT_Kp 40.925
+#define  DEFAULT_Ki 4.875
+#define  DEFAULT_Kd 86.085
+#endif
+
+// Extrude mintemp
+#define EXTRUDE_MINTEMP 130
+
+// Extruder cooling fans
+#define EXTRUDER_0_AUTO_FAN_PIN   8
+#define EXTRUDER_1_AUTO_FAN_PIN   -1
+#define EXTRUDER_2_AUTO_FAN_PIN   -1
+#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
+#define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
+
+
+
+/*------------------------------------
+ LOAD/UNLOAD FILAMENT SETTINGS
+ *------------------------------------*/
+
+// Load filament commands
+#define LOAD_FILAMENT_0 "M83"
+#define LOAD_FILAMENT_1 "G1 E70 F400"
+#define LOAD_FILAMENT_2 "G1 E40 F100"
+
+// Unload filament commands
+#define UNLOAD_FILAMENT_0 "M83"
+#define UNLOAD_FILAMENT_1 "G1 E-80 F7000"
+
+/*------------------------------------
+ CHANGE FILAMENT SETTINGS
+ *------------------------------------*/
+
+// Filament change configuration
+#define FILAMENTCHANGEENABLE
+#ifdef FILAMENTCHANGEENABLE
+#define FILAMENTCHANGE_XPOS 211
+#define FILAMENTCHANGE_YPOS 0
+#define FILAMENTCHANGE_ZADD 2
+#define FILAMENTCHANGE_FIRSTRETRACT -2
+#define FILAMENTCHANGE_FINALRETRACT -80
+
+#define FILAMENTCHANGE_FIRSTFEED 70
+#define FILAMENTCHANGE_FINALFEED 50
+#define FILAMENTCHANGE_RECFEED 5
+
+#define FILAMENTCHANGE_XYFEED 50
+#define FILAMENTCHANGE_EFEED 20
+#define FILAMENTCHANGE_RFEED 400
+#define FILAMENTCHANGE_EXFEED 2
+#define FILAMENTCHANGE_ZFEED 15
+
+#endif
+
+/*------------------------------------
+ ADDITIONAL FEATURES SETTINGS
+ *------------------------------------*/
+
+// Define Prusa filament runout sensor
+//#define FILAMENT_RUNOUT_SUPPORT
+
+#ifdef FILAMENT_RUNOUT_SUPPORT
+#define FILAMENT_RUNOUT_SENSOR 1
+#endif
+
+// temperature runaway
+//#define TEMP_RUNAWAY_BED_HYSTERESIS 5
+//#define TEMP_RUNAWAY_BED_TIMEOUT 360
+
+#define TEMP_RUNAWAY_EXTRUDER_HYSTERESIS 15
+#define TEMP_RUNAWAY_EXTRUDER_TIMEOUT 45
+
+/*------------------------------------
+ MOTOR CURRENT SETTINGS
+ *------------------------------------*/
+
+// Motor Current setting for BIG RAMBo
+#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+#define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
+
+// Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
+#if MOTHERBOARD == 102 || MOTHERBOARD == 302 || MOTHERBOARD == 300 || MOTHERBOARD == 299
+#define MOTOR_CURRENT_PWM_RANGE 2000
+#define DEFAULT_PWM_MOTOR_CURRENT  {400, 750, 750} // {XY,Z,E}
+#define DEFAULT_PWM_MOTOR_CURRENT_LOUD  {400, 750, 750} // {XY,Z,E}
+#endif
+
+/*------------------------------------
+ BED SETTINGS
+ *------------------------------------*/
+
+// Define Mesh Bed Leveling system to enable it
+#define MESH_BED_LEVELING
+#ifdef MESH_BED_LEVELING
+
+#define MBL_Z_STEP 0.01
+
+// Mesh definitions
+#define MESH_MIN_X 35
+#define MESH_MAX_X 238
+#define MESH_MIN_Y 6
+#define MESH_MAX_Y 202
+
+// Mesh upsample definition
+#define MESH_NUM_X_POINTS 7
+#define MESH_NUM_Y_POINTS 7
+// Mesh measure definition
+#define MESH_MEAS_NUM_X_POINTS 3
+#define MESH_MEAS_NUM_Y_POINTS 3
+
+#define MESH_HOME_Z_CALIB 0.2
+#define MESH_HOME_Z_SEARCH 5 //Z lift for homing, mesh bed leveling etc.
+
+#define X_PROBE_OFFSET_FROM_EXTRUDER 23     // Z probe to nozzle X offset: -left  +right
+#define Y_PROBE_OFFSET_FROM_EXTRUDER 9     // Z probe to nozzle Y offset: -front +behind
+#define Z_PROBE_OFFSET_FROM_EXTRUDER -0.4  // Z probe to nozzle Z offset: -below (always!)
+#endif
+
+// Bed Temperature Control
+// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
+//
+// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
+// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
+// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
+// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
+// If your configuration is significantly different than this and you don't understand the issues involved, you probably
+// shouldn't use bed PID until someone else verifies your hardware works.
+// If this is enabled, find your own PID constants below.
+#define PIDTEMPBED
+//
+//#define BED_LIMIT_SWITCHING
+
+// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
+// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
+// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
+// so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
+#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
+
+// Bed temperature compensation settings
+#define BED_OFFSET 10
+#define BED_OFFSET_START 40
+#define BED_OFFSET_CENTER 50
+
+
+#ifdef PIDTEMPBED
+//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
+//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
+#if defined(E3D_PT100_BED_WITH_AMP) || defined(E3D_PT100_BED_NO_AMP)
+// Define PID constants for extruder with PT100
+#define  DEFAULT_bedKp 21.70
+#define  DEFAULT_bedKi 1.60
+#define  DEFAULT_bedKd 73.76
+#else
+#define  DEFAULT_bedKp 126.13
+#define  DEFAULT_bedKi 4.30
+#define  DEFAULT_bedKd 924.76
+#endif
+
+//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
+//from pidautotune
+//    #define  DEFAULT_bedKp 97.1
+//    #define  DEFAULT_bedKi 1.41
+//    #define  DEFAULT_bedKd 1675.16
+
+// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
+#endif // PIDTEMPBED
+
+
+/*-----------------------------------
+ PREHEAT SETTINGS
+ *------------------------------------*/
+
+#define PLA_PREHEAT_HOTEND_TEMP 215
+#define PLA_PREHEAT_HPB_TEMP 55
+#define PLA_PREHEAT_FAN_SPEED 0
+
+#define ABS_PREHEAT_HOTEND_TEMP 255
+#define ABS_PREHEAT_HPB_TEMP 100
+#define ABS_PREHEAT_FAN_SPEED 0
+
+#define HIPS_PREHEAT_HOTEND_TEMP 220
+#define HIPS_PREHEAT_HPB_TEMP 100
+#define HIPS_PREHEAT_FAN_SPEED 0
+
+#define PP_PREHEAT_HOTEND_TEMP 254
+#define PP_PREHEAT_HPB_TEMP 100
+#define PP_PREHEAT_FAN_SPEED 0
+
+#define PET_PREHEAT_HOTEND_TEMP 240
+#define PET_PREHEAT_HPB_TEMP 90
+#define PET_PREHEAT_FAN_SPEED 0
+
+#define FLEX_PREHEAT_HOTEND_TEMP 230
+#define FLEX_PREHEAT_HPB_TEMP 50
+#define FLEX_PREHEAT_FAN_SPEED 0
+
+/*------------------------------------
+ THERMISTORS SETTINGS
+ *------------------------------------*/
+
+//
+//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
+//
+//// Temperature sensor settings:
+// -2 is thermocouple with MAX6675 (only for sensor 0)
+// -1 is thermocouple with AD595
+// 0 is not used
+// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
+// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
+// 3 is Mendel-parts thermistor (4.7k pullup)
+// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
+// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
+// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
+// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
+// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
+// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
+// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
+// 10 is 100k RS thermistor 198-961 (4.7k pullup)
+// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
+// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
+// 13 is 100k Hisens 3950  1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
+// 20 is the PT100 circuit found in the Ultimainboard V2.x
+// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
+//
+//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
+//                          (but gives greater accuracy and more stable PID)
+// 51 is 100k thermistor - EPCOS (1k pullup)
+// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
+// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
+//
+// 1047 is Pt1000 with 4k7 pullup
+// 1010 is Pt1000 with 1k pullup (non standard)
+// 147 is Pt100 with 4k7 pullup
+// 148 is E3D Pt100 with 4k7 pullup and no PT100 Amplifier on a MiniRambo 1.3a
+// 247 is Pt100 with 4k7 pullup and PT100 Amplifier
+// 110 is Pt100 with 1k pullup (non standard)
+
+#if defined(E3D_PT100_EXTRUDER_WITH_AMP)
+#define TEMP_SENSOR_0 247
+#elif defined(E3D_PT100_EXTRUDER_NO_AMP)
+#define TEMP_SENSOR_0 148
+#else
+#define TEMP_SENSOR_0 5
+#endif
+#define TEMP_SENSOR_1 0
+#define TEMP_SENSOR_2 0
+#if defined(E3D_PT100_BED_WITH_AMP)
+#define TEMP_SENSOR_BED 247
+#elif defined(E3D_PT100_BED_NO_AMP)
+#define TEMP_SENSOR_BED 148
+#else
+#define TEMP_SENSOR_BED 1
+#endif
+
+#define STACK_GUARD_TEST_VALUE 0xA2A2
+
+#define MAX_BED_TEMP_CALIBRATION 50
+#define MAX_HOTEND_TEMP_CALIBRATION 50
+
+#define MAX_E_STEPS_PER_UNIT 250
+#define MIN_E_STEPS_PER_UNIT 100
+
+#define Z_BABYSTEP_MIN -3999
+#define Z_BABYSTEP_MAX 0
+
+#define PINDA_PREHEAT_X 70
+#define PINDA_PREHEAT_Y -3
+#define PINDA_PREHEAT_Z 1
+#define PINDA_HEAT_T 120 //time in s
+
+#define PINDA_MIN_T 50
+#define PINDA_STEP_T 10
+#define PINDA_MAX_T 100
+
+#define PING_TIME 60 //time in s
+#define PING_TIME_LONG 600 //10 min; used when length of commands buffer > 0 to avoid false triggering when dealing with long gcodes
+#define PING_ALLERT_PERIOD 60 //time in s
+
+#define LONG_PRESS_TIME 1000 //time in ms for button long press
+#define BUTTON_BLANKING_TIME 200 //time in ms for blanking after button release
+
+#define DEFAULT_PID_TEMP 210
+
+#define MIN_PRINT_FAN_SPEED 50
+
+#ifdef SNMM
+#define DEFAULT_RETRACTION 4 //used for PINDA temp calibration and pause print
+#else
+#define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
+#endif
+
+#endif //__CONFIGURATION_PRUSA_H