TMC2130 tuning, silent/high power mode

Firmware/Configuration.h

@@ -426,10 +426,12 @@ 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();
@@ -5514,6 +5520,20 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
     {
 		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 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
@@ -5765,7 +5785,10 @@ void get_coordinates()
   }
   if(code_seen('F')) {
     next_feedrate = code_value();
-//	if (next_feedrate > 2500) next_feedrate = 2500;
+#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

@@ -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

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
@@ -73,7 +75,8 @@ uint8_t tmc2130_rd(uint8_t cs, uint8_t addr, uint32_t* rval);
 
 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);
@@ -85,31 +88,30 @@ void tmc2130_init()
 	SPI.begin();
 	for (int i = 0; i < 2; i++) // X Y axes
 	{
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000004); //GCONF - bit 2 activate stealthChop
+		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], TMC2130_PWM_AUTO_XY, TMC2130_PWM_FREQ_XY, TMC2130_PWM_GRAD_XY, TMC2130_PWM_AMPL_XY); //PWM_CONF //reset default=0x00050480
 		tmc2130_wr_PWMCONF(tmc2130_cs[i]); //PWM_CONF //reset default=0x00050480
-		//tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
+		tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
 		//tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH);
-		tmc2130_wr_CHOPCONF(tmc2130_cs[i], 1, 16);
+		tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_XY, TMC2130_USTEPS_XY);
 	}
 	for (int i = 2; i < 3; i++) // Z axis
 	{
-		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000004); //GCONF - bit 2 activate stealthChop
+		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_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
 		//tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH);
-		tmc2130_wr_CHOPCONF(tmc2130_cs[i], 1, 16);
+		tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_Z, TMC2130_USTEPS_Z);
 	}
 	for (int i = 3; i < 4; i++) // E axis
 	{
 		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], 1, 16);
+		tmc2130_wr_CHOPCONF(tmc2130_cs[i], TMC2130_EXP256_E, TMC2130_USTEPS_E);
 	}
 }
 
@@ -192,8 +194,11 @@ void tmc2130_home_exit()
 	MYSERIAL.println("tmc2130_home_exit");
 	if ((sg_homing_axis == X_AXIS) || (sg_homing_axis == Y_AXIS))
 	{
-		// Configuration back to stealthChop
-		tmc2130_wr(tmc2130_cs[sg_homing_axis], TMC2130_REG_GCONF, 0x00000004);
+		if (tmc2130_mode == TMC2130_MODE_SILENT)
+		{
+			// Configuration back to stealthChop
+			tmc2130_wr(tmc2130_cs[sg_homing_axis], TMC2130_REG_GCONF, 0x00000004);
+		}
 		sg_homing_axis = 0xff;
 	}
 }
@@ -284,7 +289,7 @@ void tmc2130_wr_CHOPCONF(uint8_t cs, bool extrapolate256, uint16_t microstep_res
 
 void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
 {
-	tmc2130_wr(cs,0x70,((uint32_t)(PWMautoScale+PWMfreq) << 16) | ((uint32_t)PWMgrad << 8) | PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
+	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
 }
 
 void tmc2130_wr_TPWMTHRS(uint8_t cs, uint32_t val32)

Firmware/tmc2130.h

@@ -1,14 +1,18 @@
 #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_homing_delay;
 
+#define TMC2130_MODE_NORMAL 0
+#define TMC2130_MODE_SILENT 1
 
 //initialize tmc2130
 extern void tmc2130_init();

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);
 }

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