diff --git a/Firmware/ConfigSamples/SKRv2/config.txt b/Firmware/ConfigSamples/SKRv2/config.txt
new file mode 100644
index 00000000..43a1a39d
--- /dev/null
+++ b/Firmware/ConfigSamples/SKRv2/config.txt
@@ -0,0 +1,125 @@
+{
+	"Board": "BIGTREETECH SKR v2",
+	"Modules":[
+	{
+	"Thread": "Servo",
+	"Type": "Reset Pin",
+		"Comment":			"Reset pin",
+		"Pin":				"PC_4"
+	},
+	{
+	"Thread": "Base",
+	"Type": "Stepgen",
+		"Comment":			"X - Joint 0 step generator",
+		"Joint Number":		0,
+		"Step Pin": 		"PE_2",
+		"Direction Pin": 	"PE_1",
+		"Enable Pin": 		"PE_3"
+	},
+	{
+	"Thread": "Base",
+	"Type": "Stepgen",
+		"Comment":			"Y - Joint 1 step generator",
+		"Joint Number":		1,
+		"Step Pin": 		"PD_5",
+		"Direction Pin": 	"PD_4",
+		"Enable Pin": 		"PD_6"
+	},
+	{
+	"Thread": "Base",
+	"Type": "Stepgen",
+		"Comment":			"Z - Joint 2 step generator",
+		"Joint Number":		2,
+		"Step Pin": 		"PA_15",
+		"Direction Pin": 	"PA_8",
+		"Enable Pin": 		"PD_1"
+	},
+	{
+	"Thread": "Base",
+	"Type": "Stepgen",
+		"Comment":			"E0 - Joint 3 step generator",
+		"Joint Number":		3,
+		"Step Pin": 		"PD_15",
+		"Direction Pin": 	"PD_14",
+		"Enable Pin": 		"PC_7"
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Temperature",
+		"Comment": 			"Extruder tenperature sensor",
+		"PV[i]": 			0,
+		"Sensor": 			"Thermistor",
+			"Thermistor":
+			{
+				"Pin": 		"0.23",
+				"beta": 	3990,
+				"r0": 		100000,
+				"t0": 		25
+			}
+	},
+	{
+	"Thread": "Base",
+	"Type": "RCServo",
+		"Comment": 			"RC servo for probe",
+		"SP[i]": 			3,
+		"Servo Pin": 		"2.0"
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Digital Pin",
+		"Comment":			"X min",
+		"Pin":				"PC_1",
+		"Mode":				"Input",
+		"Data Bit":			0
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Digital Pin",
+		"Comment":			"X max",
+		"Pin":				"PC_2",
+		"Mode":				"Input",
+		"Data Bit":			1
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Digital Pin",
+		"Comment":			"Y min",
+		"Pin":				"PC_3",
+		"Mode":				"Input",
+		"Data Bit":			2
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Digital Pin",
+		"Comment":			"Y max",
+		"Pin":				"PA_0",
+		"Mode":				"Input",
+		"Data Bit":			3
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Digital Pin",
+		"Comment":			"Z min",
+		"Pin":				"PC_0",
+		"Mode":				"Input",
+		"Data Bit":			4
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Digital Pin",
+		"Comment":			"Z max",
+		"Pin":				"PC_15",
+		"Mode":				"Input",
+		"Data Bit":			5
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Switch",
+		"Comment":			"Extruder fan switch",
+		"Pin":				"PB_7",
+		"Mode":				"On",
+		"PV[i]":			0,
+		"SP":				25.5
+	}
+	]
+}
diff --git a/Firmware/ConfigSamples/SKRv2_TMC2209/config.txt b/Firmware/ConfigSamples/SKRv2_TMC2209/config.txt
new file mode 100644
index 00000000..321c235a
--- /dev/null
+++ b/Firmware/ConfigSamples/SKRv2_TMC2209/config.txt
@@ -0,0 +1,173 @@
+{
+	"Board": "BIGTREETECH SKR v2",
+	"Modules":[
+	{
+	"Thread": "Servo",
+	"Type": "Reset Pin",
+		"Comment":			"Reset pin",
+		"Pin":				"PC_4"
+	},
+	{
+	"Thread": "Base",
+	"Type": "Stepgen",
+		"Comment":			"X - Joint 0 step generator",
+		"Joint Number":		0,
+		"Step Pin": 		"PE_2",
+		"Direction Pin": 	"PE_1",
+		"Enable Pin": 		"PE_3"
+	},
+	{
+	"Thread": "On load",
+	"Type": "TMC stepper",
+		"Comment":			"X - Joint 0 TMC driver",
+		"Driver": 			"2209",
+		"RX pin": 			"PE_0",
+		"RSense":			0.11,
+		"Current":			800,
+		"Microsteps":		16,
+		"Stealth chop":		"on",
+		"Stall sensitivity":0
+	},
+	{
+	"Thread": "Base",
+	"Type": "Stepgen",
+		"Comment":			"Y - Joint 1 step generator",
+		"Joint Number":		1,
+		"Step Pin": 		"PD_5",
+		"Direction Pin": 	"PD_4",
+		"Enable Pin": 		"PD_6"
+	},
+	{
+	"Thread": "On load",
+	"Type": "TMC stepper",
+		"Comment":			"Y - Joint 1 TMC driver",
+		"Driver": 			"2209",
+		"RX pin": 			"PD_3",
+		"RSense":			0.11,
+		"Current":			800,
+		"Microsteps":		16,
+		"Stealth chop":		"on",
+		"Stall sensitivity":0
+	},
+	{
+	"Thread": "Base",
+	"Type": "Stepgen",
+		"Comment":			"Z - Joint 2 step generator",
+		"Joint Number":		2,
+		"Step Pin": 		"PA_15",
+		"Direction Pin": 	"PA_8",
+		"Enable Pin": 		"PD_1"
+	},
+	{
+	"Thread": "On load",
+	"Type": "TMC stepper",
+		"Comment":			"Z - Joint 2 TMC driver",
+		"Driver": 			"2209",
+		"RX pin": 			"PD_0",
+		"RSense":			0.11,
+		"Current":			800,
+		"Microsteps":		16,
+		"Stealth chop":		"on",
+		"Stall sensitivity":0
+	},
+	{
+	"Thread": "Base",
+	"Type": "Stepgen",
+		"Comment":			"E0 - Joint 3 step generator",
+		"Joint Number":		3,
+		"Step Pin": 		"PD_15",
+		"Direction Pin": 	"PD_14",
+		"Enable Pin": 		"PC_7"
+	},
+	{
+	"Thread": "On load",
+	"Type": "TMC stepper",
+		"Comment":			"E0 - Joint 3 TMC driver",
+		"Driver": 			"2209",
+		"RX pin": 			"PC_6",
+		"RSense":			0.11,
+		"Current":			800,
+		"Microsteps":		16,
+		"Stealth chop":		"on",
+		"Stall sensitivity":0
+	},
+	{
+	"Thread": "Base",
+	"Type": "Stepgen",
+		"Comment":			"E1 - Joint 4 step generator",
+		"Joint Number":		4,
+		"Step Pin": 		"PD_11",
+		"Direction Pin": 	"PD_10",
+		"Enable Pin": 		"PD_13"
+	},
+	{
+	"Thread": "On load",
+	"Type": "TMC stepper",
+		"Comment":			"E1 - Joint 4 TMC driver",
+		"Driver": 			"2209",
+		"RX pin": 			"PD_12",
+		"RSense":			0.11,
+		"Current":			800,
+		"Microsteps":		16,
+		"Stealth chop":		"on",
+		"Stall sensitivity":0
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Digital Pin",
+		"Comment":			"X min",
+		"Pin":				"PC_1",
+		"Mode":				"Input",
+		"Data Bit":			0
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Digital Pin",
+		"Comment":			"X max",
+		"Pin":				"PC_2",
+		"Mode":				"Input",
+		"Data Bit":			1
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Digital Pin",
+		"Comment":			"Y min",
+		"Pin":				"PC_3",
+		"Mode":				"Input",
+		"Data Bit":			2
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Digital Pin",
+		"Comment":			"Y max",
+		"Pin":				"PA_0",
+		"Mode":				"Input",
+		"Data Bit":			3
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Digital Pin",
+		"Comment":			"Z min",
+		"Pin":				"PC_0",
+		"Mode":				"Input",
+		"Data Bit":			4
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Digital Pin",
+		"Comment":			"Z max",
+		"Pin":				"PC_15",
+		"Mode":				"Input",
+		"Data Bit":			5
+	},
+	{
+	"Thread": "Servo",
+	"Type": "Switch",
+		"Comment":			"Extruder fan switch",
+		"Pin":				"PB_7",
+		"Mode":				"On",
+		"PV[i]":			0,
+		"SP":				25.5
+	}
+	]
+}
diff --git a/Firmware/FirmwareSource/Remora-OS5/.mbed b/Firmware/FirmwareSource/Remora-OS5/.mbed
index 87c664b8..81bb3149 100644
--- a/Firmware/FirmwareSource/Remora-OS5/.mbed
+++ b/Firmware/FirmwareSource/Remora-OS5/.mbed
@@ -1,3 +1,3 @@
 ROOT=.
-TARGET=LPC1769
+TARGET=LPC1768
 TARGET_CODE=1010
diff --git a/Firmware/FirmwareSource/Remora-OS5/modules/pwm/pwm.cpp b/Firmware/FirmwareSource/Remora-OS5/modules/pwm/pwm.cpp
index 254929f2..a6e5f84d 100644
--- a/Firmware/FirmwareSource/Remora-OS5/modules/pwm/pwm.cpp
+++ b/Firmware/FirmwareSource/Remora-OS5/modules/pwm/pwm.cpp
@@ -35,7 +35,9 @@ void PWM::update()
 	// update the speed SP
 	this->SP = *(this->ptrSP);
 
+    // ensure SP is within range. LinuxCNC PID can have -ve command value
 	if (this->SP > 100) this->SP = 100;
+    if (this->SP < 0) this->SP = 0;
 
 	// the SP is as a percentage (%)
 	// scale the pwm output range (0 - pwmMax) = (0 - 100%)