diff --git a/Grbl_Esp32/src/Machine.h b/Grbl_Esp32/src/Machine.h
index 11ab8406..ddfd41c8 100644
--- a/Grbl_Esp32/src/Machine.h
+++ b/Grbl_Esp32/src/Machine.h
@@ -8,7 +8,7 @@
 // !!! For initial testing, start with test_drive.h which disables
 // all I/O pins
 // #include "Machines/atari_1020.h"
-#    include "Machines/test_drive.h"
+#    include "Machines/spi_daisy_4axis_xyza.h"
 
 // !!! For actual use, change the line above to select a board
 // from Machines/, for example:
diff --git a/Grbl_Esp32/src/Motors/TrinamicDriver.cpp b/Grbl_Esp32/src/Motors/TrinamicDriver.cpp
index 609098da..776a3e37 100644
--- a/Grbl_Esp32/src/Motors/TrinamicDriver.cpp
+++ b/Grbl_Esp32/src/Motors/TrinamicDriver.cpp
@@ -204,11 +204,11 @@ namespace Motors {
                 //grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TRINAMIC_MODE_COOLSTEP");
                 tmcstepper->en_pwm_mode(false);
                 tmcstepper->pwm_autoscale(false);
-                tmcstepper->TCOOLTHRS(NORMAL_TCOOLTHRS);  // when to turn on coolstep
+                tmcstepper->TCOOLTHRS(trinamic_tcoolthrs->get());  // when to turn on coolstep
                 tmcstepper->THIGH(NORMAL_THIGH);
-                tmcstepper->toff(TRINAMIC_TOFF_COOLSTEP);
-                tmcstepper->hend(TRINAMIC_TOFF_COOLSTEP);
-                tmcstepper->hstrt(TRINAMIC_HSTRT_COOLSTEP);
+                tmcstepper->toff(trinamic_toff->get());
+                tmcstepper->hend(trinamic_hend->get());
+                tmcstepper->hstrt(trinamic_hstrt->get());                             
                 break;
             case TRINAMIC_MODE_STALLGUARD:
                 //grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TRINAMIC_MODE_STALLGUARD");
diff --git a/Grbl_Esp32/src/SettingsDefinitions.cpp b/Grbl_Esp32/src/SettingsDefinitions.cpp
index 5499ceac..9a67f9ec 100644
--- a/Grbl_Esp32/src/SettingsDefinitions.cpp
+++ b/Grbl_Esp32/src/SettingsDefinitions.cpp
@@ -53,6 +53,11 @@ IntSetting*   spindle_pwm_bit_precision;
 
 EnumSetting* spindle_type;
 
+IntSetting* trinamic_toff;
+IntSetting* trinamic_hend;
+IntSetting* trinamic_hstrt;
+IntSetting* trinamic_tcoolthrs;
+
 enum_opt_t spindleTypes = {
     // clang-format off
     { "NONE", SPINDLE_TYPE_NONE },
@@ -323,4 +328,12 @@ void make_settings() {
     pulse_microseconds     = new IntSetting(GRBL, WG, "0", "Stepper/Pulse", DEFAULT_STEP_PULSE_MICROSECONDS, 3, 1000);
     spindle_type           = new EnumSetting(NULL, EXTENDED, WG, NULL, "Spindle/Type", SPINDLE_TYPE, &spindleTypes);
     stallguard_debug_mask  = new AxisMaskSetting(EXTENDED, WG, NULL, "Report/StallGuard", 0, checkStallguardDebugMask);
+
+
+    trinamic_toff = new IntSetting(GRBL, WG, NULL, "Trinamic/toff", 4, 0, 255);
+    trinamic_hend = new IntSetting(GRBL, WG, NULL, "Trinamic/hend", 5, 0, 255);
+    trinamic_hstrt = new IntSetting(GRBL, WG, NULL, "Trinamic/hstrt", 0, 0, 255);
+    trinamic_tcoolthrs = new IntSetting(GRBL, WG, NULL, "Trinamic/tcoolthrs", 0, 1000, 0xFFFFF);
+    //trinamic_s2vs = new IntSetting(GRBL, WG, NULL, "Trinamic/s2vs", 0, 1000, 0xFFFFF);
+    //trinamic_s2g = new IntSetting(GRBL, WG, NULL, "Trinamic/s2g", 0, 1000, 0xFFFFF);
 }
diff --git a/Grbl_Esp32/src/SettingsDefinitions.h b/Grbl_Esp32/src/SettingsDefinitions.h
index 50d4018e..ac039252 100644
--- a/Grbl_Esp32/src/SettingsDefinitions.h
+++ b/Grbl_Esp32/src/SettingsDefinitions.h
@@ -56,3 +56,8 @@ extern IntSetting*   spindle_pwm_bit_precision;
 extern EnumSetting* spindle_type;
 
 extern AxisMaskSetting* stallguard_debug_mask;
+
+extern IntSetting* trinamic_toff;
+extern IntSetting* trinamic_hend;
+extern IntSetting* trinamic_hstrt;
+extern IntSetting* trinamic_tcoolthrs;