diff --git a/config/generic-duet3-mini.cfg b/config/generic-duet3-mini.cfg
new file mode 100644
index 00000000..cb2dfadb
--- /dev/null
+++ b/config/generic-duet3-mini.cfg
@@ -0,0 +1,148 @@
+# This file contains common pin mappings for the Duet3 Mini 5+. To use
+# this config, the firmware should be compiled for the ATSAMD51P20
+# with a "25Mhz crystal", "16KiB bootloader", and USB communication.
+
+# To flash the board, double tap the board's reset button to enter the
+# bootloader and then run: make flash FLASH_DEVICE=/dev/ttyACM0
+
+# See docs/Config_Reference.md for a description of parameters.
+
+
+# Pins for reference:
+# Driver Step Pins - 0:PC26, 1:PC25, 2:PC24, 3:PC19, 4:PC16, 5:PC30, 6:PC18
+# Driver Dir pins - 0:PB3, 1:PB29, 2:PB28, 3:PD20, 4:PD21, 5:PB0, 6:PA27
+# Driver Enable - !PC28
+# Uart addresses - 0:0 1:1 2:2 3:3 4:!0 5:!1 6:!2 | "!" is for inverted select pin
+# Thermistor Pins - T0:PC0, T1:PC1, T2:PC2
+# Vssa Sense:PB4 | Vref Sense:PB5
+# Current Sense resistor for drivers - .076ohm
+# SPI lines:{PD11, PC7} -> Shared SerCom#7, SPIMosi:PC12, SPIMiso:PC15, SPISCLK:PC13
+# Vin Monitor:PC3, uses 11:1 voltage divider
+# LED's - Diag:PA31, Act:PA30
+# 12864 LCD - LCDCSPIN:PC6, ENCA:PC11, ENCB:PD1, ENCSW:PB9, LCD A0:PA2, LCDBeep:PA0, LCD Neopixel Out:PB12 (shared with IO3.out)
+# Neopixel Out - PA8
+# Serial0 - TX:PB25, RX:PB24 (USB)
+# Serial1 - TX:PB31, RX:PB30
+# SBC SPISS pin:PA6, SBCTfrReady:PA3, SerComPins:{PA4, PA5, PA6, PA7}
+# CAN Pins - TX:PB14 RX:PB15
+# Heaters, Fan outputs - {Out0:PB17 Out1:PC10 Out2:PB13 Out3:PB11 Out4:PA11, Out5:PB2, Out6:PB1} | Out6 is shared with VFD_Out
+# GPIO_out - {IO1:PB31 IO2:PD9 IO3:PB12 IO4:PD10} IO4 is shared with PSON
+# GPIO_in - {IO1:PB30 IO2:PD8 IO3:PB7 IO4:PC5 IO5:PC4 IO6:PC31}
+# Driver Diag - {D0:PA10, D1:PB8, D2:PA22, D3:PA23, D4:PC21, D5:PB10, D6:PA27}
+# Mux Pin - PD0
+# EXP headers only support 12864 LCD's
+
+[stepper_x]
+#driver0
+step_pin: PC26
+dir_pin: !PB3
+enable_pin: !PC28
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PC31
+position_endstop: 0
+position_max: 450
+
+[tmc2209 stepper_x]
+uart_pin: PA1
+tx_pin: PA0
+select_pins: PD0
+uart_address: 0
+run_current: 1
+sense_resistor: 0.056
+
+[stepper_y]
+#driver1
+step_pin: PC25
+dir_pin: PB29
+enable_pin: !PC28
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PC4
+position_endstop: 0
+position_max: 450
+
+[tmc2209 stepper_y]
+uart_pin: PA1
+tx_pin: PA0
+select_pins: PD0
+uart_address: 1
+run_current: 1
+sense_resistor: 0.056
+
+[stepper_z]
+#driver2
+step_pin: PC24
+dir_pin: PB28
+enable_pin: !PC28
+microsteps: 16
+rotation_distance: 8
+endstop_pin: PC5
+position_endstop: 0
+position_max: 400
+
+[tmc2209 stepper_z]
+uart_pin: PA1
+tx_pin: PA0
+select_pins: PD0
+uart_address: 2
+run_current: 1
+sense_resistor: 0.056
+
+[adc_scaled vref_scaled]
+vref_pin: PB5
+vssa_pin: PB4
+
+[extruder]
+#driver3
+step_pin: PC19
+dir_pin: PD20
+enable_pin: !PC28
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB13 # out2
+sensor_type: ATC Semitec 104GT-2
+pullup_resistor: 2200
+sensor_pin: vref_scaled:PC1
+control: pid
+pid_Kp: 30.089
+pid_Ki: 2.229
+pid_Kd: 101.550
+min_temp: 0
+max_temp: 285
+
+[tmc2209 extruder]
+uart_pin: PA1
+tx_pin: PA0
+uart_address: 3
+select_pins: PD0
+run_current: 1
+sense_resistor: 0.056
+
+[heater_bed]
+heater_pin: PB17 #out1
+sensor_type: NTC 100K beta 3950
+sensor_pin: vref_scaled:PC0
+control: pid
+pullup_resistor: 2200
+pid_Kp: 61.049
+pid_Ki: 2.339
+pid_Kd: 398.344
+min_temp: 0
+max_temp: 130
+
+[heater_fan heatbreak_fan]
+pin: PB11
+
+[fan]
+pin: PA11
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 350
+max_accel: 3000
diff --git a/test/configs/samd51p20.config b/test/configs/samd51p20.config
new file mode 100644
index 00000000..09f15fa8
--- /dev/null
+++ b/test/configs/samd51p20.config
@@ -0,0 +1,4 @@
+# Base config file for Atmel SAMD51P20 ARM processor
+CONFIG_MACH_ATSAMD=y
+CONFIG_MACH_SAMD51P20=y
+CONFIG_CLOCK_REF_X25M=y
diff --git a/test/klippy/printers.test b/test/klippy/printers.test
index 33c70bf3..1c837e0f 100644
--- a/test/klippy/printers.test
+++ b/test/klippy/printers.test
@@ -107,6 +107,10 @@ DICTIONARY sam4e8e.dict
 CONFIG ../../config/generic-duet2.cfg
 CONFIG ../../config/generic-duet2-duex.cfg
 
+# Printers using the samd51
+DICTIONARY samd51p20.dict
+CONFIG ../../config/generic-duet3-mini.cfg
+
 # Printers using the lpc176x
 DICTIONARY lpc176x.dict
 CONFIG ../../config/generic-azteeg-x5-mini-v3.cfg