HW SG homing, SWSPI pins for EINY03/04

8 files changed, 175 insertions, 187 deletions

diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h
index 22f109f89..61f38be8d 100644
--- a/Firmware/Configuration.h
+++ b/Firmware/Configuration.h
@@ -258,8 +258,8 @@ your extruder heater takes 2 minutes to hit the target on heating.
 
 // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
 
-const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
-const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
+const bool X_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
+const bool Y_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
 const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
 //#define DISABLE_MAX_ENDSTOPS
 //#define DISABLE_MIN_ENDSTOPS
diff --git a/Firmware/pins.h b/Firmware/pins.h
index d5b2c36ac..c8868ccc1 100644
--- a/Firmware/pins.h
+++ b/Firmware/pins.h
@@ -329,36 +329,45 @@
 #define HAVE_TMC2130_DRIVERS
 #define HAVE_PAT9125_SENSOR
 
+#define SWSPI_MISO          16 //RX2
+#define SWSPI_MOSI          16 //RX2
+#define SWSPI_SCK           17 //TX2
+#define SWSPI_CS            20 //SDA
+
+#define X_TMC2130_CS        41
+#define X_TMC2130_DIAG      40
 #define X_STEP_PIN          37
 #define X_DIR_PIN           49
-#define X_MIN_PIN           12
-#define X_MAX_PIN           30
-//#define X_MIN_PIN           64 //TMC2130 SG homing
-//#define X_MAX_PIN           64 //TMC2130 SG homing
+//#define X_MIN_PIN           12
+//#define X_MAX_PIN           30
+#define X_MIN_PIN           X_TMC2130_DIAG
+#define X_MAX_PIN           X_TMC2130_DIAG
 #define X_ENABLE_PIN        29
-#define X_MS1_PIN -1
-#define X_MS2_PIN -1
-#define X_TMC2130_CS 41
+#define X_MS1_PIN           -1
+#define X_MS2_PIN           -1
 
+#define Y_TMC2130_CS        39
+#define Y_TMC2130_DIAG      69
 #define Y_STEP_PIN          36
 #define Y_DIR_PIN           48
-#define Y_MIN_PIN           11
-#define Y_MAX_PIN           24
-//#define Y_MIN_PIN           69 //TMC2130 SG homing
-//#define Y_MAX_PIN           69 //TMC2130 SG homing
+//#define Y_MIN_PIN           11
+//#define Y_MAX_PIN           24
+#define Y_MIN_PIN           Y_TMC2130_DIAG
+#define Y_MAX_PIN           Y_TMC2130_DIAG
 #define Y_ENABLE_PIN        28
-#define Y_MS1_PIN -1
-#define Y_MS2_PIN -1
-#define Y_TMC2130_CS 39
+#define Y_MS1_PIN           -1
+#define Y_MS2_PIN           -1
 
+#define Z_TMC2130_CS        67
+#define Z_TMC2130_DIAG      68
 #define Z_STEP_PIN          35
 #define Z_DIR_PIN           47
 #define Z_MIN_PIN           10
 #define Z_MAX_PIN           23
+//#define Z_MAX_PIN           Z_TMC2130_DIAG
 #define Z_ENABLE_PIN        27
-#define Z_MS1_PIN -1
-#define Z_MS2_PIN -1
-#define Z_TMC2130_CS 67
+#define Z_MS1_PIN           -1
+#define Z_MS2_PIN           -1
 
 #define HEATER_BED_PIN       4
 #define TEMP_BED_PIN         2
@@ -370,19 +379,20 @@
 #define TEMP_1_PIN           1
 
 #ifdef BARICUDA
-#define HEATER_2_PIN       6
+#define HEATER_2_PIN         6
 #else
-#define HEATER_2_PIN      -1
+#define HEATER_2_PIN        -1
 #endif
 
 #define TEMP_2_PIN          -1
 
+#define E0_TMC2130_CS       66
+#define E0_TMC2130_DIAG     65
 #define E0_STEP_PIN         34
 #define E0_DIR_PIN          43
 #define E0_ENABLE_PIN       26
-#define E0_MS1_PIN -1
-#define E0_MS2_PIN -1
-#define E0_TMC2130_CS 66
+#define E0_MS1_PIN          -1
+#define E0_MS2_PIN          -1
 
 #define MOTOR_CURRENT_PWM_XY_PIN 46
 #define MOTOR_CURRENT_PWM_Z_PIN  45
@@ -391,34 +401,34 @@
 #define SDSS                53
 #define LED_PIN             13
 #define FAN_PIN              6
-#define FAN_1_PIN            -1
+#define FAN_1_PIN           -1
 #define PS_ON_PIN           -1
 #define KILL_PIN            -1  // 80 with Smart Controller LCD
 #define SUICIDE_PIN         -1  // PIN that has to be turned on right after start, to keep power flowing.
 
 #ifdef ULTRA_LCD
 
-#define KILL_PIN          32
+#define KILL_PIN            32
 
 #ifdef NEWPANEL
 
-#define BEEPER      84  // Beeper on AUX-4
-#define LCD_PINS_RS     82
-#define LCD_PINS_ENABLE 18
-#define LCD_PINS_D4     19
-#define LCD_PINS_D5     70
-#define LCD_PINS_D6     85
-#define LCD_PINS_D7     71
+#define BEEPER              84  // Beeper on AUX-4
+#define LCD_PINS_RS         82
+#define LCD_PINS_ENABLE     18
+#define LCD_PINS_D4         19
+#define LCD_PINS_D5         70
+#define LCD_PINS_D6         85
+#define LCD_PINS_D7         71
 
 //buttons are directly attached using AUX-2
-#define BTN_EN1         72
-#define BTN_EN2         14
-#define BTN_ENC          9  // the click
+#define BTN_EN1             72
+#define BTN_EN2             14
+#define BTN_ENC              9  // the click
 
-#define SDCARDDETECT   15
+#define SDCARDDETECT        15
 
-#define TACH_0 81
-#define TACH_1 80 
+#define TACH_0              81
+#define TACH_1              80 
 
 #endif //NEWPANEL
 #endif //ULTRA_LCD
@@ -440,36 +450,44 @@
 #define HAVE_TMC2130_DRIVERS
 #define HAVE_PAT9125_SENSOR
 
+#define SWSPI_MISO          21 //SCL
+#define SWSPI_MOSI          21 //SCL
+#define SWSPI_SCK           62 //PK0
+#define SWSPI_CS            20 //SDA
+
+#define X_TMC2130_CS        41
+#define X_TMC2130_DIAG      64 // !!! changed from 40 (EINY03)
 #define X_STEP_PIN          37
 #define X_DIR_PIN           49
-#define X_MIN_PIN           12
-#define X_MAX_PIN           30
-//#define X_MIN_PIN           64 //TMC2130 SG homing
-//#define X_MAX_PIN           64 //TMC2130 SG homing
+//#define X_MIN_PIN           12
+//#define X_MAX_PIN           30
+#define X_MIN_PIN           X_TMC2130_DIAG
+#define X_MAX_PIN           X_TMC2130_DIAG
 #define X_ENABLE_PIN        29
 #define X_MS1_PIN -1
 #define X_MS2_PIN -1
-#define X_TMC2130_CS 41
 
+#define Y_TMC2130_CS        39
+#define Y_TMC2130_DIAG      69
 #define Y_STEP_PIN          36
 #define Y_DIR_PIN           48
-#define Y_MIN_PIN           11
-#define Y_MAX_PIN           24
-//#define Y_MIN_PIN           69 //TMC2130 SG homing
-//#define Y_MAX_PIN           69 //TMC2130 SG homing
+//#define Y_MIN_PIN           11
+//#define Y_MAX_PIN           24
+#define Y_MIN_PIN           Y_TMC2130_DIAG
+#define Y_MAX_PIN           Y_TMC2130_DIAG
 #define Y_ENABLE_PIN        28
-#define Y_MS1_PIN -1
-#define Y_MS2_PIN -1
-#define Y_TMC2130_CS 39
+#define Y_MS1_PIN           -1
+#define Y_MS2_PIN           -1
 
+#define Z_TMC2130_CS        67
 #define Z_STEP_PIN          35
 #define Z_DIR_PIN           47
 #define Z_MIN_PIN           10
 #define Z_MAX_PIN           23
+//#define Z_MAX_PIN           Z_TMC2130_DIAG
 #define Z_ENABLE_PIN        27
-#define Z_MS1_PIN -1
-#define Z_MS2_PIN -1
-#define Z_TMC2130_CS 67
+#define Z_MS1_PIN           -1
+#define Z_MS2_PIN           -1
 
 #define HEATER_BED_PIN       4
 #define TEMP_BED_PIN         2
@@ -481,19 +499,19 @@
 #define TEMP_1_PIN           1
 
 #ifdef BARICUDA
-#define HEATER_2_PIN       6
+#define HEATER_2_PIN         6
 #else
-#define HEATER_2_PIN      -1
+#define HEATER_2_PIN        -1
 #endif
 
 #define TEMP_2_PIN          -1
 
+#define E0_TMC2130_CS       66
 #define E0_STEP_PIN         34
 #define E0_DIR_PIN          43
 #define E0_ENABLE_PIN       26
-#define E0_MS1_PIN -1
-#define E0_MS2_PIN -1
-#define E0_TMC2130_CS 66
+#define E0_MS1_PIN          -1
+#define E0_MS2_PIN          -1
 
 #define MOTOR_CURRENT_PWM_XY_PIN 46
 #define MOTOR_CURRENT_PWM_Z_PIN  45
@@ -502,7 +520,7 @@
 #define SDSS                77
 #define LED_PIN             13
 #define FAN_PIN              6
-#define FAN_1_PIN            -1
+#define FAN_1_PIN           -1
 #define PS_ON_PIN           -1
 #define KILL_PIN            -1  // 80 with Smart Controller LCD
 #define SUICIDE_PIN         -1  // PIN that has to be turned on right after start, to keep power flowing.
@@ -514,25 +532,25 @@
 #ifdef NEWPANEL
 
 
-#define BEEPER      84  // Beeper on AUX-4
-#define LCD_PINS_RS     82
-//#define LCD_PINS_ENABLE 18
-//#define LCD_PINS_D4     19
-#define LCD_PINS_ENABLE 61
-#define LCD_PINS_D4		59
-#define LCD_PINS_D5     70
-#define LCD_PINS_D6     85
-#define LCD_PINS_D7     71
+#define BEEPER              84  // Beeper on AUX-4
+#define LCD_PINS_RS         82
+//#define LCD_PINS_ENABLE   18
+//#define LCD_PINS_D4       19
+#define LCD_PINS_ENABLE     61
+#define LCD_PINS_D4	        59
+#define LCD_PINS_D5         70
+#define LCD_PINS_D6         85
+#define LCD_PINS_D7         71
 
 //buttons are directly attached using AUX-2
-#define BTN_EN1         72
-#define BTN_EN2         14
-#define BTN_ENC          9  // the click
+#define BTN_EN1             72
+#define BTN_EN2             14
+#define BTN_ENC              9  // the click
 
-#define SDCARDDETECT   15
+#define SDCARDDETECT        15
 
-#define TACH_0 79
-#define TACH_1 80 
+#define TACH_0              79
+#define TACH_1              80 
 
 #endif //NEWPANEL
 #endif //ULTRA_LCD
diff --git a/Firmware/swspi.cpp b/Firmware/swspi.cpp
index ca681e909..87678be15 100755
--- a/Firmware/swspi.cpp
+++ b/Firmware/swspi.cpp
@@ -12,7 +12,8 @@
 #endif //SWSPI_RPI

 

 #ifdef SWSPI_AVR

-	#include "Arduino.h"

+	//#include "Arduino.h"

+	#include "Marlin.h"

 	#define GPIO_INP(gpio) pinMode(gpio, INPUT)

 	#define GPIO_OUT(gpio) pinMode(gpio, OUTPUT)

 	#define GPIO_SET(gpio) digitalWrite(gpio, HIGH)

diff --git a/Firmware/swspi.h b/Firmware/swspi.h
index c74232376..ba75d2bb0 100755
--- a/Firmware/swspi.h
+++ b/Firmware/swspi.h
@@ -13,23 +13,6 @@
 #endif //SWSPI_RPI
 
 #ifdef SWSPI_AVR
-//#if MOTHERBOARD == BOARD_EINY_0_3a
-#define SWSPI_MISO	16 //RX2
-#define SWSPI_MOSI	16 //RX2
-#define SWSPI_SCK	17 //TX2
-#define SWSPI_CS	20 //SDA
-//#endif //(MOTHERBOARD == 299)
-/*#if MOTHERBOARD == BOARD_EINY_0_4a
-#define SWSPI_MISO	62 //PK0
-#define SWSPI_MOSI	62 //PK0
-#define SWSPI_SCK	21 //SCL
-#endif //(MOTHERBOARD == BOARD_EINY_0_3a)
-#if (MOTHERBOARD == BOARD_EINY_0_4a)
-#define SWSPI_MISO	21 //PK0
-#define SWSPI_MOSI	21 //PK0
-#define SWSPI_SCK	62 //SCL
-#define SWSPI_CS	20 //SDA
-#endif //(MOTHERBOARD == BOARD_EINY_0_4a)*/
 #endif //SWSPI_AVR
 
 #define SWSPI_POL	1 //polarity
diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp
index 33a3e8586..a2c93adbc 100644
--- a/Firmware/tmc2130.cpp
+++ b/Firmware/tmc2130.cpp
@@ -5,6 +5,10 @@
 #include "tmc2130.h"
 #include <SPI.h>
 
+#define TMC2130_GCONF_NORMAL 0x00000000 // spreadCycle
+#define TMC2130_GCONF_SGSENS 0x00003180 // spreadCycle with stallguard (stall activates DIAG0 and DIAG1 [pushpull])
+#define TMC2130_GCONF_SILENT 0x00000004 // stealthChop
+
 //externals for debuging
 extern float current_position[4];
 extern void st_get_position_xy(long &x, long &y);
@@ -12,6 +16,8 @@ extern long st_get_position(uint8_t axis);
 
 //chipselect pins
 uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
+//diag pins
+uint8_t tmc2130_diag[4] = { X_TMC2130_DIAG, Y_TMC2130_DIAG, Z_TMC2130_DIAG, E0_TMC2130_DIAG };
 //mode
 uint8_t tmc2130_mode = TMC2130_MODE_NORMAL;
 //holding currents
@@ -20,8 +26,6 @@ uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
 uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
 //axis stalled flags
 uint8_t tmc2130_axis_stalled[2] = {0, 0};
-//last homing stalled
-uint8_t tmc2130_LastHomingStalled = 0;
 
 //pwm_ampl
 uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_XY, TMC2130_PWM_AMPL_XY};
@@ -105,6 +109,10 @@ void tmc2130_init()
 	SET_OUTPUT(Y_TMC2130_CS);
 	SET_OUTPUT(Z_TMC2130_CS);
 	SET_OUTPUT(E0_TMC2130_CS);
+	SET_INPUT(X_TMC2130_DIAG);
+	SET_INPUT(Y_TMC2130_DIAG);
+	SET_INPUT(Z_TMC2130_DIAG);
+	SET_INPUT(E0_TMC2130_DIAG);
 	SPI.begin();
 	for (int i = 0; i < 2; i++) // X Y axes
 	{
@@ -112,7 +120,7 @@ void tmc2130_init()
 		tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
 		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(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?0x00000004:0x00000000);
+		tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
 		tmc2130_wr_PWMCONF(tmc2130_cs[i], tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0);
 		tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
 		//tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH);
@@ -172,64 +180,21 @@ bool tmc2130_update_sg()
 						uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
 						if (sg == 0)
 						{
-
 							tmc2130_axis_stalled[axis] = true;
-							tmc2130_LastHomingStalled = true;
 #ifdef TMC2130_DEBUG
 	MYSERIAL.print("tmc2130_update_sg AXIS STALLED ");
 	MYSERIAL.println((int)axis);
 #endif //TMC2130_DEBUG
 						}
-//						else
-//							tmc2130_axis_stalled[axis] = false;
 					}
 				}
-//				else
-//					tmc2130_axis_stalled[axis] = false;
 			}
 		}
 	}
 	return true;
-//	else
-//	{
-//		tmc2130_axis_stalled[X_AXIS] = false;
-//		tmc2130_axis_stalled[Y_AXIS] = false;
-//	}
 #endif
 }
 
-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 )
-	{
-		//SERIAL_ECHOLNPGM("drv_status:");
-		for(int i=0;i<4;i++)
-		{
-			uint32_t drv_status = 0;
-
-			skip_debug_msg = true;
-
-			tmc2130_rd(cs[i], TMC2130_REG_DRV_STATUS, &drv_status);
-			//MYSERIAL.print(drv_status);
-			//SERIAL_ECHOPGM(" ");
-			if (drv_status & ((uint32_t)1<<26))
-			{ // BIT 26 - over temp prewarning ~120C (+-20C)
-				SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
-				SERIAL_ECHOLN(i);
-				for(int i=0; i < 4; i++)
-					tmc2130_wr(tmc2130_cs[i], TMC2130_REG_CHOPCONF, 0x00010000);
-				kill(TMC_OVERTEMP_MSG);
-			}
-		}
-		//SERIAL_ECHOLNPGM("");
-		checktime = millis();
-	}
-}
-
 void tmc2130_home_enter(uint8_t axes_mask)
 {
 #ifdef TMC2130_DEBUG
@@ -247,11 +212,11 @@ void tmc2130_home_enter(uint8_t axes_mask)
 			tmc2131_axis_sg_pos[axis] = st_get_position(axis);
 			tmc2130_axis_stalled[axis] = false;
 			//Configuration to spreadCycle
-			tmc2130_wr(cs, TMC2130_REG_GCONF, 0x00000000);
+			tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
 			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
+			tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
 #endif //TMC2130_SG_HOMING_SW
 		}
 	}
@@ -273,9 +238,13 @@ void tmc2130_home_exit()
 			if (sg_homing_axes_mask & mask)
 			{
 				if (tmc2130_mode == TMC2130_MODE_SILENT)
-					tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, 0x00000004); // Configuration back to stealthChop
+					tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop
 				else
-					tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, 0x00000000);
+#ifdef TMC2130_SG_HOMING_SW
+					tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
+#else //TMC2130_SG_HOMING_SW
+					tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
+#endif //TMC2130_SG_HOMING_SW
 			}
 			tmc2130_axis_stalled[axis] = false;
 		}
@@ -290,11 +259,28 @@ void tmc2130_home_restart(uint8_t axis)
 	tmc2130_axis_stalled[axis] = false;
 }
 
-uint8_t tmc2130_didLastHomingStall()
+void tmc2130_check_overtemp()
 {
-	uint8_t ret = tmc2130_LastHomingStalled;
-	tmc2130_LastHomingStalled = false;
-	return ret;
+	const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
+	static uint32_t checktime = 0;
+	if (millis() - checktime > 1000 )
+	{
+		for (int i = 0; i < 4; i++)
+		{
+			uint32_t drv_status = 0;
+			skip_debug_msg = true;
+			tmc2130_rd(tmc2130_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 j = 0; j < 4; j++)
+					tmc2130_wr(tmc2130_cs[j], TMC2130_REG_CHOPCONF, 0x00010000);
+				kill(TMC_OVERTEMP_MSG);
+			}
+		}
+		checktime = millis();
+	}
 }
 
 void tmc2130_set_current_h(uint8_t axis, uint8_t current)
@@ -303,7 +289,6 @@ void tmc2130_set_current_h(uint8_t axis, uint8_t current)
 	MYSERIAL.print((int)axis);
 	MYSERIAL.print(" ");
 	MYSERIAL.println((int)current);
-//	if (current > 15) current = 15; //current>15 is unsafe
 	tmc2130_current_h[axis] = current;
 	tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
 }
@@ -314,7 +299,6 @@ void tmc2130_set_current_r(uint8_t axis, uint8_t current)
 	MYSERIAL.print((int)axis);
 	MYSERIAL.print(" ");
 	MYSERIAL.println((int)current);
-//	if (current > 15) current = 15; //current>15 is unsafe
 	tmc2130_current_r[axis] = current;
 	tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
 }
@@ -431,7 +415,7 @@ void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32)
 	tmc2130_wr(cs, TMC2130_REG_THIGH, val32);
 }
 
-
+#ifdef TMC2130_DEBUG
 uint8_t tmc2130_axis_by_cs(uint8_t cs)
 {
 	switch (cs)
@@ -443,6 +427,7 @@ uint8_t tmc2130_axis_by_cs(uint8_t cs)
 	}
 	return -1;
 }
+#endif //TMC2130_DEBUG
 
 uint8_t tmc2130_mres(uint16_t microstep_resolution)
 {
diff --git a/Firmware/tmc2130.h b/Firmware/tmc2130.h
index 87e85d959..c29016135 100644
--- a/Firmware/tmc2130.h
+++ b/Firmware/tmc2130.h
@@ -29,8 +29,6 @@ extern void tmc2130_home_enter(uint8_t axes_mask);
 extern void tmc2130_home_exit();
 //restart homing (called from homeaxis befor move)
 extern void tmc2130_home_restart(uint8_t axis);
-//
-extern uint8_t tmc2130_didLastHomingStall();
 
 //set holding current for any axis (M911)
 extern void tmc2130_set_current_h(uint8_t axis, uint8_t current);
diff --git a/Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h b/Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h
index ff4340148..129ec848c 100644
--- a/Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h
@@ -67,11 +67,10 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 //#define DEFAULT_MAX_FEEDRATE          {400, 400, 12, 120}    // (mm/sec)
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 12, 120}    // (mm/sec)
-#define DEFAULT_MAX_ACCELERATION      {2000, 2000, 250, 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          1500   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  1500   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_MAX_ACCELERATION      {1000, 1000, 200, 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   // 
@@ -83,8 +82,10 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DEBUG_DISABLE_STARTMSGS //no startup messages 
 #define DEBUG_DISABLE_MINTEMP   //mintemp error ignored
 #define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
+#define DEBUG_DISABLE_LCD_STATUS_LINE  //sw limits ignored
 #define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
-#define DEBUG_XSTEP_DUP_PIN 21   //duplicate x-step output to pin 21 (SCL on P3)
+#define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
+//#define DEBUG_XSTEP_DUP_PIN 21   //duplicate x-step output to pin 21 (SCL on P3)
 //#define DEBUG_YSTEP_DUP_PIN 21   //duplicate y-step output to pin 21 (SCL on P3)
 //#define DEBUG_BLINK_ACTIVE
 #endif
@@ -118,22 +119,22 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_PWM_FREQ_E  2         // PWMCONF
 */
 
-//#define TMC2130_PWM_DIV  683        // PWM frequency divider (1024, 683, 512, 410)
-#define TMC2130_PWM_DIV  512        // PWM frequency divider (1024, 683, 512, 410)
-#define TMC2130_PWM_CLK  (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk)
+//#define TMC2130_PWM_DIV   683         // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_DIV   512         // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_CLK   (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz 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_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_HOMING_SW  1     // stallguard "software" homing
 #define TMC2130_SG_THRS_X    30     // stallguard sensitivity for X axis
 #define TMC2130_SG_THRS_Y    30     // stallguard sensitivity for Y axis
-#define TMC2130_SG_DELTA     128    // stallguard delta [usteps] (minimum usteps before stallguard readed)
+#define TMC2130_SG_DELTA     128    // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
 
-//new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right
+//new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
 #define TMC2130_CURRENTS_H {3, 3, 5, 8}  // default holding currents for all axes
 #define TMC2130_CURRENTS_R {13, 13, 20, 20}  // default running currents for all axes
 
@@ -464,4 +465,6 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
 #endif
 
+#define UVLO_Z_AXIS_SHIFT 2
+
 #endif //__CONFIGURATION_PRUSA_H
diff --git a/Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h b/Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h
index f16a2a2e4..5ba54bdd1 100644
--- a/Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h
@@ -33,7 +33,7 @@
 
 // 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*4}
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,280}
 
 // Endstop inverting
 const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
@@ -42,14 +42,14 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 // Home position
 #define MANUAL_X_HOME_POS 0
-#define MANUAL_Y_HOME_POS -13
+#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 -13
+#define Y_MIN_POS -4
 #define Z_MAX_POS 210
 #define Z_MIN_POS 0.15
 
@@ -67,11 +67,10 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 //#define DEFAULT_MAX_FEEDRATE          {400, 400, 12, 120}    // (mm/sec)
 #define DEFAULT_MAX_FEEDRATE          {500, 500, 12, 120}    // (mm/sec)
-#define DEFAULT_MAX_ACCELERATION      {2000, 2000, 250, 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          1500   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
-#define DEFAULT_RETRACT_ACCELERATION  1500   // X, Y, Z and E max acceleration in mm/s^2 for retracts
+#define DEFAULT_MAX_ACCELERATION      {1000, 1000, 200, 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   // 
@@ -83,8 +82,10 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DEBUG_DISABLE_STARTMSGS //no startup messages 
 #define DEBUG_DISABLE_MINTEMP   //mintemp error ignored
 #define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
+#define DEBUG_DISABLE_LCD_STATUS_LINE  //sw limits ignored
 #define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
-#define DEBUG_XSTEP_DUP_PIN 21   //duplicate x-step output to pin 21 (SCL on P3)
+#define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
+//#define DEBUG_XSTEP_DUP_PIN 21   //duplicate x-step output to pin 21 (SCL on P3)
 //#define DEBUG_YSTEP_DUP_PIN 21   //duplicate y-step output to pin 21 (SCL on P3)
 //#define DEBUG_BLINK_ACTIVE
 #endif
@@ -97,7 +98,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #define TMC2130_USTEPS_XY   16        // microstep resolution for XY axes
 #define TMC2130_USTEPS_Z    16        // microstep resolution for Z axis
-#define TMC2130_USTEPS_E    64        // microstep resolution for E axis
+#define TMC2130_USTEPS_E    16        // microstep resolution for E axis
 #define TMC2130_INTPOL_XY   1         // extrapolate 256 for XY axes
 #define TMC2130_INTPOL_Z    1         // extrapolate 256 for Z axis
 #define TMC2130_INTPOL_E    1         // extrapolate 256 for E axis
@@ -118,28 +119,28 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define TMC2130_PWM_FREQ_E  2         // PWMCONF
 */
 
-//#define TMC2130_PWM_DIV  683        // PWM frequency divider (1024, 683, 512, 410)
-#define TMC2130_PWM_DIV  512        // PWM frequency divider (1024, 683, 512, 410)
-#define TMC2130_PWM_CLK  (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk)
+//#define TMC2130_PWM_DIV   683         // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_DIV   512         // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_CLK   (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz 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_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    40     // stallguard sensitivity for X axis
-#define TMC2130_SG_THRS_Y    40     // stallguard sensitivity for Y axis
-#define TMC2130_SG_DELTA     128    // stallguard delta [usteps] (minimum usteps before stallguard readed)
+#define TMC2130_SG_THRS_X    30     // stallguard sensitivity for X axis
+#define TMC2130_SG_THRS_Y    30     // stallguard sensitivity for Y axis
+#define TMC2130_SG_DELTA     128    // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
 
-//new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right
+//new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
 #define TMC2130_CURRENTS_H {3, 3, 5, 8}  // default holding currents for all axes
 #define TMC2130_CURRENTS_R {13, 13, 20, 20}  // default running currents for all axes
 
 //#define TMC2130_DEBUG
 //#define TMC2130_DEBUG_WR
-#define TMC2130_DEBUG_RD
+//#define TMC2130_DEBUG_RD
 
 
 /*------------------------------------
@@ -273,7 +274,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 // Mesh definitions
 #define MESH_MIN_X 35
 #define MESH_MAX_X 238
-#define MESH_MIN_Y 8
+#define MESH_MIN_Y 6
 #define MESH_MAX_Y 202
 
 // Mesh upsample definition
@@ -287,7 +288,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #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 8     // Z probe to nozzle Y offset: -front +behind
+#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
 
@@ -464,7 +465,6 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
 #endif
 
-
 #define UVLO_Z_AXIS_SHIFT 2
 
 #endif //__CONFIGURATION_PRUSA_H