diff --git a/src/config/axis.h b/src/config/axis.h
index 11a67b7..6f2cd88 100644
--- a/src/config/axis.h
+++ b/src/config/axis.h
@@ -6,10 +6,23 @@ namespace config {
 
 using namespace unit;
 
+/// Available microstepping resolutions
+enum MRes : uint8_t {
+    MRes_256 = 0,
+    MRes_128 = 1,
+    MRes_64 = 2,
+    MRes_32 = 3,
+    MRes_16 = 4,
+    MRes_8 = 5,
+    MRes_4 = 6,
+    MRes_2 = 7,
+    MRes_1 = 8
+};
+
 /// Axis configuration data
 struct AxisConfig {
     bool dirOn; ///< direction ON state (for inversion)
-    uint8_t uSteps; ///< microstepping [0-8, where 0 is x256 and 8 is fullstepping]
+    MRes mRes; ///< microstepping [0-8, where 0 is x256 and 8 is fullstepping]
     bool vSense; ///< vSense scaling
     uint8_t iRun; ///< running current
     uint8_t iHold; ///< holding current
diff --git a/src/config/config.h b/src/config/config.h
index 755c8d7..6c71bfb 100644
--- a/src/config/config.h
+++ b/src/config/config.h
@@ -70,56 +70,56 @@ static constexpr uint8_t stepTimerQuantum = 16;
 
 /// Pulley axis configuration
 static constexpr AxisConfig pulley = {
-    .dirOn = true,
-    .uSteps = 4, //x16
+    .dirOn = false,
+    .mRes = MRes_2,
     .vSense = false,
     .iRun = 20,
     .iHold = 20,
     .stealth = false,
-    .stepsPerUnit = 100,
+    .stepsPerUnit = 161.3,
 };
 
 /// Pulley motion limits
 static constexpr PulleyLimits pulleyLimits = {
-    .lenght = 100.0_mm,
-    .jerk = 10.0_mm_s,
-    .accel = 1000.0_mm_s2,
+    .lenght = 1000.0_mm, // TODO
+    .jerk = 4.0_mm_s,
+    .accel = 800.0_mm_s2,
 };
 
 /// Selector configuration
 static constexpr AxisConfig selector = {
     .dirOn = true,
-    .uSteps = 4, //x16
+    .mRes = MRes_2,
     .vSense = false,
     .iRun = 20,
     .iHold = 20,
     .stealth = false,
-    .stepsPerUnit = 100,
+    .stepsPerUnit = (200 * 2 / 8.),
 };
 
 /// Selector motion limits
 static constexpr SelectorLimits selectorLimits = {
-    .lenght = 100.0_mm,
-    .jerk = 10.0_mm_s,
-    .accel = 1000.0_mm_s2,
+    .lenght = 75.0_mm,
+    .jerk = 1.0_mm_s,
+    .accel = 200.0_mm_s2,
 };
 
 /// Idler configuration
 static constexpr AxisConfig idler = {
     .dirOn = true,
-    .uSteps = 4, //x16
+    .mRes = MRes_16,
     .vSense = false,
     .iRun = 20,
     .iHold = 20,
     .stealth = false,
-    .stepsPerUnit = 100,
+    .stepsPerUnit = (200 * 16 / 360.),
 };
 
 /// Idler motion limits
 static constexpr IdlerLimits idlerLimits = {
-    .lenght = 360.0_deg,
-    .jerk = 10.0_deg_s,
-    .accel = 1000.0_deg_s2,
+    .lenght = 270.0_deg,
+    .jerk = 0.1_deg_s,
+    .accel = 10.0_deg_s2,
 };
 
 /// Max retries of FeedToBondtech used in LoadFilament
diff --git a/src/hal/tmc2130.cpp b/src/hal/tmc2130.cpp
index a08e0e3..73dc1d8 100644
--- a/src/hal/tmc2130.cpp
+++ b/src/hal/tmc2130.cpp
@@ -26,9 +26,9 @@ bool TMC2130::Init(const MotorParams &params, const MotorCurrents &currents, Mot
         | (uint32_t)(1U & 0x0FU) << 7U //hend
         | (uint32_t)(2U & 0x03U) << 15U //tbl
         | (uint32_t)(currents.vSense & 0x01U) << 17U //vsense
-        | (uint32_t)(params.uSteps & 0x0FU) << 24U //mres
-        | (uint32_t)((bool)params.uSteps) << 28U //intpol
-        | (uint32_t)(1U & 0x01) << 29U; //dedge
+        | (uint32_t)(params.mRes & 0x0FU) << 24U //mres
+        | (uint32_t)(1U & 0x01) << 28U //intpol (always true)
+        | (uint32_t)(1U & 0x01) << 29U; //dedge (always true)
     WriteRegister(params, Registers::CHOPCONF, chopconf);
 
     ///apply currents
@@ -82,7 +82,7 @@ void TMC2130::SetEnabled(const MotorParams &params, bool enabled) {
 
 void TMC2130::ClearStallguard(const MotorParams &params) {
     // @todo: maximum resolution right now is x256/4 (uint8_t / 4)
-    sg_counter = 4 * (1 << (8 - params.uSteps)) - 1; /// one electrical full step (4 steps when fullstepping)
+    sg_counter = 4 * (1 << (8 - params.mRes)) - 1; /// one electrical full step (4 steps when fullstepping)
 }
 
 bool TMC2130::CheckForErrors(const MotorParams &params) {
@@ -116,7 +116,7 @@ void TMC2130::Isr(const MotorParams &params) {
     if (sg_counter) {
         if (SampleDiag(params))
             sg_counter--;
-        else if (sg_counter < (4 * (1 << (8 - params.uSteps)) - 1))
+        else if (sg_counter < (4 * (1 << (8 - params.mRes)) - 1))
             sg_counter++;
     }
 }
diff --git a/src/hal/tmc2130.h b/src/hal/tmc2130.h
index 8a014a8..2d86214 100644
--- a/src/hal/tmc2130.h
+++ b/src/hal/tmc2130.h
@@ -1,4 +1,5 @@
 #pragma once
+#include "../config/config.h"
 #include "../hal/gpio.h"
 #include "../hal/shr16.h"
 #include "../hal/spi.h"
@@ -23,7 +24,7 @@ struct MotorParams {
     gpio::GPIO_pin csPin; ///< CS pin
     gpio::GPIO_pin stepPin; ///< step pin
     gpio::GPIO_pin sgPin; ///< stallguard pin
-    uint8_t uSteps; ///< microstep resolution (mres)
+    config::MRes mRes; ///< microstep resolution
 };
 
 struct MotorCurrents {
diff --git a/src/modules/motion.h b/src/modules/motion.h
index c7ec569..79b8a2c 100644
--- a/src/modules/motion.h
+++ b/src/modules/motion.h
@@ -41,7 +41,7 @@ static AxisParams axisParams[NUM_AXIS] = {
     // Pulley
     {
         .name = 'P',
-        .params = { .spi = hal::spi::TmcSpiBus, .idx = Pulley, .dirOn = config::pulley.dirOn, .csPin = PULLEY_CS_PIN, .stepPin = PULLEY_STEP_PIN, .sgPin = PULLEY_SG_PIN, .uSteps = config::pulley.uSteps },
+        .params = { .spi = hal::spi::TmcSpiBus, .idx = Pulley, .dirOn = config::pulley.dirOn, .csPin = PULLEY_CS_PIN, .stepPin = PULLEY_STEP_PIN, .sgPin = PULLEY_SG_PIN, .mRes = config::pulley.mRes },
         .currents = { .vSense = config::pulley.vSense, .iRun = config::pulley.iRun, .iHold = config::pulley.iHold },
         .mode = DefaultMotorMode(config::pulley),
         .jerk = unitToSteps<P_speed_t>(config::pulleyLimits.jerk),
@@ -50,7 +50,7 @@ static AxisParams axisParams[NUM_AXIS] = {
     // Selector
     {
         .name = 'S',
-        .params = { .spi = hal::spi::TmcSpiBus, .idx = Selector, .dirOn = config::selector.dirOn, .csPin = SELECTOR_CS_PIN, .stepPin = SELECTOR_STEP_PIN, .sgPin = SELECTOR_SG_PIN, .uSteps = config::selector.uSteps },
+        .params = { .spi = hal::spi::TmcSpiBus, .idx = Selector, .dirOn = config::selector.dirOn, .csPin = SELECTOR_CS_PIN, .stepPin = SELECTOR_STEP_PIN, .sgPin = SELECTOR_SG_PIN, .mRes = config::selector.mRes },
         .currents = { .vSense = config::selector.vSense, .iRun = config::selector.iRun, .iHold = config::selector.iHold },
         .mode = DefaultMotorMode(config::selector),
         .jerk = unitToSteps<S_speed_t>(config::selectorLimits.jerk),
@@ -59,7 +59,7 @@ static AxisParams axisParams[NUM_AXIS] = {
     // Idler
     {
         .name = 'I',
-        .params = { .spi = hal::spi::TmcSpiBus, .idx = Idler, .dirOn = config::idler.dirOn, .csPin = IDLER_CS_PIN, .stepPin = IDLER_STEP_PIN, .sgPin = IDLER_SG_PIN, .uSteps = config::idler.uSteps },
+        .params = { .spi = hal::spi::TmcSpiBus, .idx = Idler, .dirOn = config::idler.dirOn, .csPin = IDLER_CS_PIN, .stepPin = IDLER_STEP_PIN, .sgPin = IDLER_SG_PIN, .mRes = config::idler.mRes },
         .currents = { .vSense = config::idler.vSense, .iRun = config::idler.iRun, .iHold = config::idler.iHold },
         .mode = DefaultMotorMode(config::idler),
         .jerk = unitToSteps<I_speed_t>(config::idlerLimits.jerk),
diff --git a/tests/unit/modules/pulse_gen/test_pulse_gen.cpp b/tests/unit/modules/pulse_gen/test_pulse_gen.cpp
index e62a9fb..8db0f0e 100644
--- a/tests/unit/modules/pulse_gen/test_pulse_gen.cpp
+++ b/tests/unit/modules/pulse_gen/test_pulse_gen.cpp
@@ -38,7 +38,7 @@ TEST_CASE("pulse_gen::basic", "[pulse_gen]") {
         .csPin = IDLER_CS_PIN,
         .stepPin = IDLER_STEP_PIN,
         .sgPin = IDLER_SG_PIN,
-        .uSteps = config::idler.uSteps
+        .mRes = config::idler.mRes
     };
 
     PulseGen pg(10, 100);
@@ -67,7 +67,7 @@ TEST_CASE("pulse_gen::step_dir", "[pulse_gen]") {
         .csPin = IDLER_CS_PIN,
         .stepPin = IDLER_STEP_PIN,
         .sgPin = IDLER_SG_PIN,
-        .uSteps = config::idler.uSteps
+        .mRes = config::idler.mRes
     };
 
     PulseGen pg(10, 100);
@@ -102,7 +102,7 @@ TEST_CASE("pulse_gen::step_count", "[pulse_gen]") {
         .csPin = IDLER_CS_PIN,
         .stepPin = IDLER_STEP_PIN,
         .sgPin = IDLER_SG_PIN,
-        .uSteps = config::idler.uSteps
+        .mRes = config::idler.mRes
     };
 
     PulseGen pg(10, 100);
@@ -140,7 +140,7 @@ TEST_CASE("pulse_gen::queue_position", "[pulse_gen]") {
         .csPin = IDLER_CS_PIN,
         .stepPin = IDLER_STEP_PIN,
         .sgPin = IDLER_SG_PIN,
-        .uSteps = config::idler.uSteps
+        .mRes = config::idler.mRes
     };
 
     PulseGen pg(10, 100);
@@ -208,7 +208,7 @@ TEST_CASE("pulse_gen::queue_step", "[pulse_gen]") {
         .csPin = IDLER_CS_PIN,
         .stepPin = IDLER_STEP_PIN,
         .sgPin = IDLER_SG_PIN,
-        .uSteps = config::idler.uSteps
+        .mRes = config::idler.mRes
     };
 
     PulseGen pg(10, 100);
@@ -234,7 +234,7 @@ TEST_CASE("pulse_gen::queue_abort", "[pulse_gen]") {
         .csPin = IDLER_CS_PIN,
         .stepPin = IDLER_STEP_PIN,
         .sgPin = IDLER_SG_PIN,
-        .uSteps = config::idler.uSteps
+        .mRes = config::idler.mRes
     };
 
     PulseGen pg(10, 100);
@@ -266,7 +266,7 @@ TEST_CASE("pulse_gen::accel_ramp", "[pulse_gen]") {
         .csPin = IDLER_CS_PIN,
         .stepPin = IDLER_STEP_PIN,
         .sgPin = IDLER_SG_PIN,
-        .uSteps = config::idler.uSteps
+        .mRes = config::idler.mRes
     };
 
     // TODO: output ramps still to be checked