From f292a6ca7ab532ae0f48f042a3ff26d31c301dd4 Mon Sep 17 00:00:00 2001
From: Marek Bel <marek.bel@posta.cz>
Date: Mon, 21 Jan 2019 21:39:38 +0100
Subject: [PATCH 01/12] Refactor filament sensor selftest call.

---
 Firmware/ultralcd.cpp | 28 ++++++++++++++++------------
 1 file changed, 16 insertions(+), 12 deletions(-)

diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 937ccd5a1..b96050649 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -6418,21 +6418,25 @@ bool lcd_selftest()
 	if (_result)
 	{
 		_progress = lcd_selftest_screen(8, _progress, 3, true, 2000); //bed ok
-#ifdef FILAMENT_SENSOR
-		if (mmu_enabled == false) {
-			_progress = lcd_selftest_screen(9, _progress, 3, true, 2000); //check filaments sensor
-			_result = lcd_selftest_fsensor();
-		}
-#endif // FILAMENT_SENSOR
 	}
+
+#ifdef FILAMENT_SENSOR
+    if (mmu_enabled == false)
+    {
+        if (_result)
+        {
+            _progress = lcd_selftest_screen(9, _progress, 3, true, 2000); //check filaments sensor
+            _result = lcd_selftest_fsensor();
+        }
+        if (_result)
+        {
+            _progress = lcd_selftest_screen(10, _progress, 3, true, 2000); //fil sensor OK
+        }
+    }
+#endif // FILAMENT_SENSOR
+
 	if (_result)
 	{
-#ifdef FILAMENT_SENSOR
-		if (mmu_enabled == false)
-		{
-			_progress = lcd_selftest_screen(10, _progress, 3, true, 2000); //fil sensor OK
-		}
-#endif // FILAMENT_SENSOR
 		_progress = lcd_selftest_screen(11, _progress, 3, true, 5000); //all correct
 	}
 	else

From a92d9c782b0d3ba379aa78d3ef0ff5b456f98530 Mon Sep 17 00:00:00 2001
From: Marek Bel <marek.bel@posta.cz>
Date: Tue, 22 Jan 2019 10:56:07 +0100
Subject: [PATCH 02/12] Add IR sensor test.

---
 Firmware/mmu.cpp      | 23 +++++++++-------
 Firmware/mmu.h        |  8 ++++++
 Firmware/ultralcd.cpp | 61 ++++++++++++++++++++++++++++++++++++++-----
 3 files changed, 76 insertions(+), 16 deletions(-)

diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp
index c8ced41b2..ba80a7fd9 100644
--- a/Firmware/mmu.cpp
+++ b/Firmware/mmu.cpp
@@ -450,10 +450,11 @@ void mmu_command(uint8_t cmd)
 	mmu_ready = false;
 }
 
-void mmu_load_step() {
+void mmu_load_step(bool synchronize)
+{
 		current_position[E_AXIS] = current_position[E_AXIS] + MMU_LOAD_FEEDRATE * 0.1;
 		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
-		st_synchronize();
+		if (synchronize) st_synchronize();
 }
 
 bool mmu_get_response(uint8_t move)
@@ -554,6 +555,14 @@ bool mmu_get_response(uint8_t move)
 	return response;*/
 }
 
+void mmu_wait_for_heater_blocking()
+{
+    while ((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5)
+    {
+        delay_keep_alive(1000);
+        lcd_wait_for_heater();
+    }
+}
 
 void manage_response(bool move_axes, bool turn_off_nozzle, uint8_t move)
 {
@@ -648,11 +657,7 @@ void manage_response(bool move_axes, bool turn_off_nozzle, uint8_t move)
 					lcd_display_message_fullscreen_P(_i("MMU OK. Resuming temperature..."));
 					delay_keep_alive(3000);
 				}
-				while ((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5) 
-				{
-					delay_keep_alive(1000);
-					lcd_wait_for_heater();
-				}
+                mmu_wait_for_heater_blocking();
 			  }			  
 			  if (move_axes) {
 				  lcd_clear();
@@ -955,7 +960,7 @@ static const E_step ramming_sequence[] PROGMEM =
 };
 
 //! @brief Unload sequence to optimize shape of the tip of the unloaded filament
-static void filament_ramming()
+void mmu_filament_ramming()
 {
     for(uint8_t i = 0; i < (sizeof(ramming_sequence)/sizeof(E_step));++i)
     {
@@ -987,7 +992,7 @@ void extr_unload()
 		if (mmu_extruder == MMU_FILAMENT_UNKNOWN) lcd_print(" ");
 		else lcd_print(mmu_extruder + 1);
 
-		filament_ramming();
+		mmu_filament_ramming();
 
 		mmu_command(MMU_CMD_U0);
 		// get response
diff --git a/Firmware/mmu.h b/Firmware/mmu.h
index 1861be6dc..8f7f34a33 100644
--- a/Firmware/mmu.h
+++ b/Firmware/mmu.h
@@ -1,5 +1,8 @@
 //! @file
 
+#ifndef MMU_H
+#define MMU_H
+
 #include <inttypes.h>
 
 
@@ -119,3 +122,8 @@ extern void mmu_eject_fil_2();
 extern void mmu_eject_fil_3();
 extern void mmu_eject_fil_4();
 extern void mmu_continue_loading();
+extern void mmu_filament_ramming();
+extern void mmu_wait_for_heater_blocking();
+extern void mmu_load_step(bool synchronize = true);
+
+#endif //MMU_H
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index b96050649..f9e5c6677 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -163,6 +163,7 @@ static void lcd_selftest_screen_step(int _row, int _col, int _state, const char
 static bool lcd_selftest_manual_fan_check(int _fan, bool check_opposite);
 static bool lcd_selftest_fan_dialog(int _fan);
 static bool lcd_selftest_fsensor();
+static bool selftest_irsensor();
 static void lcd_selftest_error(int _error_no, const char *_error_1, const char *_error_2);
 static void lcd_colorprint_change();
 #ifdef SNMM
@@ -6421,17 +6422,20 @@ bool lcd_selftest()
 	}
 
 #ifdef FILAMENT_SENSOR
-    if (mmu_enabled == false)
+    if (_result)
     {
-        if (_result)
+        _progress = lcd_selftest_screen(9, _progress, 3, true, 2000); //check filaments sensor
+        if (mmu_enabled)
+        {
+            _result = selftest_irsensor();
+        } else
         {
-            _progress = lcd_selftest_screen(9, _progress, 3, true, 2000); //check filaments sensor
             _result = lcd_selftest_fsensor();
         }
-        if (_result)
-        {
-            _progress = lcd_selftest_screen(10, _progress, 3, true, 2000); //fil sensor OK
-        }
+    }
+    if (_result)
+    {
+        _progress = lcd_selftest_screen(10, _progress, 3, true, 2000); //fil sensor OK
     }
 #endif // FILAMENT_SENSOR
 
@@ -6991,6 +6995,49 @@ static bool lcd_selftest_fsensor(void)
 	}
 	return (!fsensor_not_responding);
 }
+
+static bool selftest_irsensor()
+{
+    class TempBackup
+    {
+    public:
+        TempBackup():
+            m_temp(degTargetHotend(active_extruder)),
+            m_extruder(active_extruder){}
+        ~TempBackup(){setTargetHotend(m_temp,m_extruder);}
+    private:
+        float m_temp;
+        uint8_t m_extruder;
+    };
+
+    TempBackup tempBackup;
+    setTargetHotend(PLA_PREHEAT_HOTEND_TEMP,active_extruder);
+    mmu_wait_for_heater_blocking();
+    lcd_selftest_screen(9, 0, 3, true, 0);
+    mmu_filament_ramming();
+
+    for(uint_least8_t i = 0; i < 200; ++i)
+    {
+        mmu_load_step(false);
+        while (blocks_queued())
+        {
+            if (PIN_GET(MMU_IDLER_SENSOR_PIN) == 0) return false;
+#ifdef TMC2130
+            manage_heater();
+            // Vojtech: Don't disable motors inside the planner!
+            if (!tmc2130_update_sg())
+            {
+                manage_inactivity(true);
+            }
+#else //TMC2130
+            manage_heater();
+            // Vojtech: Don't disable motors inside the planner!
+            manage_inactivity(true);
+#endif //TMC2130
+        }
+    }
+    return true;
+}
 #endif //FILAMENT_SENSOR
 
 static bool lcd_selftest_manual_fan_check(int _fan, bool check_opposite)

From c371a5ea65679d03de2f54788efd2980c88ab722 Mon Sep 17 00:00:00 2001
From: Marek Bel <marek.bel@posta.cz>
Date: Tue, 22 Jan 2019 14:05:08 +0100
Subject: [PATCH 03/12] Document.

---
 Firmware/mmu.cpp      |  8 ++++++++
 Firmware/ultralcd.cpp | 11 +++++++++++
 2 files changed, 19 insertions(+)

diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp
index ba80a7fd9..1b1a234d1 100644
--- a/Firmware/mmu.cpp
+++ b/Firmware/mmu.cpp
@@ -450,6 +450,10 @@ void mmu_command(uint8_t cmd)
 	mmu_ready = false;
 }
 
+//! @brief Rotate extruder idler to catch filament
+//! @par synchronize
+//!  * true blocking call
+//!  * false non-blocking call
 void mmu_load_step(bool synchronize)
 {
 		current_position[E_AXIS] = current_position[E_AXIS] + MMU_LOAD_FEEDRATE * 0.1;
@@ -555,6 +559,10 @@ bool mmu_get_response(uint8_t move)
 	return response;*/
 }
 
+//! @brief Wait for active extruder to reach temperature set
+//!
+//! This function is blocking and showing lcd_wait_for_heater() screen
+//! which is constantly updated with nozzle temperature.
 void mmu_wait_for_heater_blocking()
 {
     while ((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5)
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index f9e5c6677..8f10c6cbf 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -6996,6 +6996,17 @@ static bool lcd_selftest_fsensor(void)
 	return (!fsensor_not_responding);
 }
 
+//! @brief Self-test of infrared barrier filament sensor mounted on MK3S with MMUv2 printer
+//!
+//! Test whether sensor is not triggering filament presence when extruder idler is moving without filament.
+//!
+//! Steps:
+//!  * Backup current active extruder temperature
+//!  * Pre-heat to PLA extrude temperature.
+//!  * Unload filament possibly present.
+//!
+//! @retval true passed
+//! @retval false failed
 static bool selftest_irsensor()
 {
     class TempBackup

From 3ff8a7c740e6218e2d4ea82121faafbe2bf95d88 Mon Sep 17 00:00:00 2001
From: Marek Bel <marek.bel@posta.cz>
Date: Tue, 22 Jan 2019 14:54:06 +0100
Subject: [PATCH 04/12] Unload filament by MMU unit in selftest_irsensor().

Known limitation:
If filament was not loaded to nozzle it is sticked completely out of MMU. To be fixed in MMU, as this problem can be reproduced also from printer menu - unload filament.
---
 Firmware/ultralcd.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 8f10c6cbf..895895dcf 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -7004,6 +7004,9 @@ static bool lcd_selftest_fsensor(void)
 //!  * Backup current active extruder temperature
 //!  * Pre-heat to PLA extrude temperature.
 //!  * Unload filament possibly present.
+//!  * Move extruder idler same way as during filament load
+//!    and sample MMU_IDLER_SENSOR_PIN.
+//!  * Check that pin doesn't go low.
 //!
 //! @retval true passed
 //! @retval false failed
@@ -7026,6 +7029,8 @@ static bool selftest_irsensor()
     mmu_wait_for_heater_blocking();
     lcd_selftest_screen(9, 0, 3, true, 0);
     mmu_filament_ramming();
+    mmu_command(MMU_CMD_U0);
+    manage_response(false, false);
 
     for(uint_least8_t i = 0; i < 200; ++i)
     {

From 9cda0b69b89d8af3cd945c7fc8a6472208976219 Mon Sep 17 00:00:00 2001
From: Marek Bel <marek.bel@posta.cz>
Date: Tue, 22 Jan 2019 18:03:03 +0100
Subject: [PATCH 05/12] Update IR sensor selftest progress bar.

---
 Firmware/ultralcd.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 895895dcf..6ad75b6e7 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -7027,13 +7027,15 @@ static bool selftest_irsensor()
     TempBackup tempBackup;
     setTargetHotend(PLA_PREHEAT_HOTEND_TEMP,active_extruder);
     mmu_wait_for_heater_blocking();
-    lcd_selftest_screen(9, 0, 3, true, 0);
+    uint8_t progress = lcd_selftest_screen(9, 0, 1, true, 0);
     mmu_filament_ramming();
     mmu_command(MMU_CMD_U0);
     manage_response(false, false);
 
     for(uint_least8_t i = 0; i < 200; ++i)
     {
+        if (0 == (i % 50)) progress = lcd_selftest_screen(9, progress, 1, true, 0);
+
         mmu_load_step(false);
         while (blocks_queued())
         {

From 97a46238001c0864752369c6171a08790c9b2fd4 Mon Sep 17 00:00:00 2001
From: Marek Bel <marek.bel@posta.cz>
Date: Tue, 22 Jan 2019 19:01:55 +0100
Subject: [PATCH 06/12] Fix lcd_selftest_screen for small _progress_scale.

---
 Firmware/ultralcd.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 6ad75b6e7..3d5d53421 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -7218,7 +7218,7 @@ static int lcd_selftest_screen(int _step, int _progress, int _progress_scale, bo
     lcd_update_enable(false);
 
 	int _step_block = 0;
-	const char *_indicator = (_progress > _progress_scale) ? "-" : "|";
+	const char *_indicator = (_progress >= _progress_scale) ? "-" : "|";
 
 	if (_clear) lcd_clear();
 
@@ -7281,7 +7281,7 @@ static int lcd_selftest_screen(int _step, int _progress, int _progress_scale, bo
 	if (_delay > 0) delay_keep_alive(_delay);
 	_progress++;
 
-	return (_progress > _progress_scale * 2) ? 0 : _progress;
+	return (_progress >= _progress_scale * 2) ? 0 : _progress;
 }
 
 static void lcd_selftest_screen_step(int _row, int _col, int _state, const char *_name, const char *_indicator)

From 1d71c1a5d166eded1f3e516fb74aeac2828ba261 Mon Sep 17 00:00:00 2001
From: Marek Bel <marek.bel@posta.cz>
Date: Tue, 22 Jan 2019 19:02:42 +0100
Subject: [PATCH 07/12] Update IR sensor selftest progress bar more frequently.

---
 Firmware/ultralcd.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 3d5d53421..10d5e561e 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -7029,12 +7029,13 @@ static bool selftest_irsensor()
     mmu_wait_for_heater_blocking();
     uint8_t progress = lcd_selftest_screen(9, 0, 1, true, 0);
     mmu_filament_ramming();
+    progress = lcd_selftest_screen(9, progress, 1, true, 0);
     mmu_command(MMU_CMD_U0);
     manage_response(false, false);
 
     for(uint_least8_t i = 0; i < 200; ++i)
     {
-        if (0 == (i % 50)) progress = lcd_selftest_screen(9, progress, 1, true, 0);
+        if (0 == (i % 32)) progress = lcd_selftest_screen(9, progress, 1, true, 0);
 
         mmu_load_step(false);
         while (blocks_queued())

From 22859800f090f033f15680eaea92205f2f1ebd41 Mon Sep 17 00:00:00 2001
From: Marek Bel <marek.bel@posta.cz>
Date: Thu, 24 Jan 2019 19:22:36 +0100
Subject: [PATCH 08/12] Rearrange tests. Move hot end test to the end, to spare
 time in IR sensor test.

Known problems, hot end and bed is swapped. Bed progress indicator is painted to X axis test.
---
 Firmware/ultralcd.cpp | 61 +++++++++++++++++++++++--------------------
 1 file changed, 32 insertions(+), 29 deletions(-)

diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 10d5e561e..1efb814b4 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -6324,28 +6324,24 @@ bool lcd_selftest()
 		_result = true;
 #endif
 	}
-	
-	if (_result)
-	{
-		_progress = lcd_selftest_screen(3, _progress, 3, true, 1000);
-		_result = lcd_selfcheck_check_heater(false);
-	}
-
 
 	if (_result)
 	{
 		//current_position[Z_AXIS] += 15;									//move Z axis higher to avoid false triggering of Z end stop in case that we are very low - just above heatbed
-		_progress = lcd_selftest_screen(4, _progress, 3, true, 2000);
+		_progress = lcd_selftest_screen(3, _progress, 3, true, 2000);
 #ifdef TMC2130
-		_result = lcd_selfcheck_axis_sg(X_AXIS);
+        _result = lcd_selfcheck_axis_sg(X_AXIS);
 #else
-		_result = lcd_selfcheck_axis(X_AXIS, X_MAX_POS);
+        _result = lcd_selfcheck_axis(X_AXIS, X_MAX_POS);
 #endif //TMC2130
 	}
 
+
+
+
 	if (_result)
 	{
-		_progress = lcd_selftest_screen(4, _progress, 3, true, 0);
+		_progress = lcd_selftest_screen(3, _progress, 3, true, 0);
 
 #ifndef TMC2130
 		_result = lcd_selfcheck_pulleys(X_AXIS);
@@ -6355,7 +6351,7 @@ bool lcd_selftest()
 
 	if (_result)
 	{
-		_progress = lcd_selftest_screen(5, _progress, 3, true, 1500);
+		_progress = lcd_selftest_screen(4, _progress, 3, true, 1500);
 #ifdef TMC2130
 		_result = lcd_selfcheck_axis_sg(Y_AXIS);
 #else
@@ -6365,7 +6361,7 @@ bool lcd_selftest()
 
 	if (_result)
 	{
-		_progress = lcd_selftest_screen(5, _progress, 3, true, 0);
+		_progress = lcd_selftest_screen(4, _progress, 3, true, 0);
 #ifndef TMC2130
 		_result = lcd_selfcheck_pulleys(Y_AXIS);
 #endif // TMC2130
@@ -6386,7 +6382,7 @@ bool lcd_selftest()
 		current_position[Z_AXIS] = current_position[Z_AXIS] + 10;
 		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
 		st_synchronize();
-		_progress = lcd_selftest_screen(6, _progress, 3, true, 1500);
+		_progress = lcd_selftest_screen(5, _progress, 3, true, 1500);
 		_result = lcd_selfcheck_axis(2, Z_MAX_POS);
 		if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE) != 1) {
 			enquecommand_P(PSTR("G28 W"));
@@ -6413,12 +6409,18 @@ bool lcd_selftest()
 
 	if (_result)
 	{
-		_progress = lcd_selftest_screen(7, _progress, 3, true, 2000); //check bed
-		_result = lcd_selfcheck_check_heater(true);
+		_progress = lcd_selftest_screen(6, _progress, 3, true, 2000); //check bed
+		_result = lcd_selfcheck_check_heater(false);
 	}
+
+    if (_result)
+    {
+        _progress = lcd_selftest_screen(7, _progress, 3, true, 1000); //check nozzle
+        _result = lcd_selfcheck_check_heater(true);
+    }
 	if (_result)
 	{
-		_progress = lcd_selftest_screen(8, _progress, 3, true, 2000); //bed ok
+		_progress = lcd_selftest_screen(8, _progress, 3, true, 2000); //nozzle ok
 	}
 
 #ifdef FILAMENT_SENSOR
@@ -7230,12 +7232,12 @@ static int lcd_selftest_screen(int _step, int _progress, int _progress_scale, bo
 	if (_step == 0) lcd_puts_P(_T(MSG_SELFTEST_FAN));
 	if (_step == 1) lcd_puts_P(_T(MSG_SELFTEST_FAN));
 	if (_step == 2) lcd_puts_P(_i("Checking endstops"));////MSG_SELFTEST_CHECK_ENDSTOPS c=20 r=0
-	if (_step == 3) lcd_puts_P(_i("Checking hotend  "));////MSG_SELFTEST_CHECK_HOTEND c=20 r=0
-	if (_step == 4) lcd_puts_P(_i("Checking X axis  "));////MSG_SELFTEST_CHECK_X c=20 r=0
-	if (_step == 5) lcd_puts_P(_i("Checking Y axis  "));////MSG_SELFTEST_CHECK_Y c=20 r=0
-	if (_step == 6) lcd_puts_P(_i("Checking Z axis  "));////MSG_SELFTEST_CHECK_Z c=20 r=0
-	if (_step == 7) lcd_puts_P(_T(MSG_SELFTEST_CHECK_BED));
-	if (_step == 8) lcd_puts_P(_T(MSG_SELFTEST_CHECK_BED));
+	if (_step == 3) lcd_puts_P(_i("Checking X axis  "));////MSG_SELFTEST_CHECK_X c=20 r=0
+	if (_step == 4) lcd_puts_P(_i("Checking Y axis  "));////MSG_SELFTEST_CHECK_Y c=20 r=0
+	if (_step == 5) lcd_puts_P(_i("Checking Z axis  "));////MSG_SELFTEST_CHECK_Z c=20 r=0
+	if (_step == 6) lcd_puts_P(_T(MSG_SELFTEST_CHECK_BED));
+	if (_step == 7
+	    || _step == 8) lcd_puts_P(_i("Checking hotend  "));////MSG_SELFTEST_CHECK_HOTEND c=20 r=0
 	if (_step == 9) lcd_puts_P(_T(MSG_SELFTEST_CHECK_FSENSOR));
 	if (_step == 10) lcd_puts_P(_T(MSG_SELFTEST_CHECK_FSENSOR));
 	if (_step == 11) lcd_puts_P(_i("All correct      "));////MSG_SELFTEST_CHECK_ALLCORRECT c=20 r=0
@@ -7263,20 +7265,21 @@ static int lcd_selftest_screen(int _step, int _progress, int _progress_scale, bo
 	else if (_step < 9)
 	{
 		//SERIAL_ECHOLNPGM("Other tests");
-		_step_block = 3;
-		lcd_selftest_screen_step(3, 9, ((_step == _step_block) ? 1 : (_step < _step_block) ? 0 : 2), "Hotend", _indicator);
 
-		_step_block = 4;
+		_step_block = 3;
 		lcd_selftest_screen_step(2, 2, ((_step == _step_block) ? 1 : (_step < _step_block) ? 0 : 2), "X", _indicator);
 
-		_step_block = 5;
+		_step_block = 4;
 		lcd_selftest_screen_step(2, 8, ((_step == _step_block) ? 1 : (_step < _step_block) ? 0 : 2), "Y", _indicator);
 
-		_step_block = 6;
+		_step_block = 5;
 		lcd_selftest_screen_step(2, 14, ((_step == _step_block) ? 1 : (_step < _step_block) ? 0 : 2), "Z", _indicator);
 
-		_step_block = 7;
+		_step_block = 6;
 		lcd_selftest_screen_step(3, 0, ((_step == _step_block) ? 1 : (_step < _step_block) ? 0 : 2), "Bed", _indicator);
+
+        _step_block = 7;
+        lcd_selftest_screen_step(3, 9, ((_step == _step_block) ? 1 : (_step < _step_block) ? 0 : 2), "Hotend", _indicator);
 	}
 
 	if (_delay > 0) delay_keep_alive(_delay);

From 305598d7f653cc1c33a55c117fff4233b10d847b Mon Sep 17 00:00:00 2001
From: Marek Bel <marek.bel@posta.cz>
Date: Thu, 24 Jan 2019 20:03:37 +0100
Subject: [PATCH 09/12] Fix bed / nozzle test order and progress bar.

Known limitation:
Z progress shown in bed progress.
---
 Firmware/ultralcd.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 1efb814b4..85b899dc8 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -6410,13 +6410,13 @@ bool lcd_selftest()
 	if (_result)
 	{
 		_progress = lcd_selftest_screen(6, _progress, 3, true, 2000); //check bed
-		_result = lcd_selfcheck_check_heater(false);
+		_result = lcd_selfcheck_check_heater(true);
 	}
 
     if (_result)
     {
         _progress = lcd_selftest_screen(7, _progress, 3, true, 1000); //check nozzle
-        _result = lcd_selfcheck_check_heater(true);
+        _result = lcd_selfcheck_check_heater(false);
     }
 	if (_result)
 	{
@@ -6821,7 +6821,7 @@ static bool lcd_selfcheck_check_heater(bool _isbed)
 
 		manage_heater();
 		manage_inactivity(true);
-		_progress = (_isbed) ? lcd_selftest_screen(7, _progress, 2, false, 400) : lcd_selftest_screen(3, _progress, 2, false, 400);
+		_progress = (_isbed) ? lcd_selftest_screen(6, _progress, 2, false, 400) : lcd_selftest_screen(7, _progress, 2, false, 400);
 		/*if (_isbed) {
 			MYSERIAL.print("Bed temp:");
 			MYSERIAL.println(degBed());

From 1c4f3259ea26d7ea8a1899bd6b1a40af3089e994 Mon Sep 17 00:00:00 2001
From: Marek Bel <marek.bel@posta.cz>
Date: Thu, 24 Jan 2019 21:02:04 +0100
Subject: [PATCH 10/12] Increase heater check minimum expected temperature
 rises.

Bed increased from 3 to 10 K.
Nozzle increased from 10 to 30 K.

Measured rises with my MK3 printer:
Bed 26K,
Nozzle 73K.
---
 Firmware/ultralcd.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 85b899dc8..0253996c5 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -6847,9 +6847,10 @@ static bool lcd_selfcheck_check_heater(bool _isbed)
 	MYSERIAL.print("Opposite result:");
 	MYSERIAL.println(_opposite_result);
 	*/
-	if (_opposite_result < ((_isbed) ? 10 : 3))
+
+	if (_opposite_result < ((_isbed) ? 30 : 9))
 	{
-		if (_checked_result >= ((_isbed) ? 3 : 10))
+		if (_checked_result >= ((_isbed) ? 9 : 30))
 		{
 			_stepresult = true;
 		}

From 68ffa95aa9651e7149756f064361b2638d3b9962 Mon Sep 17 00:00:00 2001
From: Marek Bel <marek.bel@posta.cz>
Date: Thu, 24 Jan 2019 21:06:03 +0100
Subject: [PATCH 11/12] Fix axis self-test progress visualization.

---
 Firmware/ultralcd.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 0253996c5..ee97ff6e9 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -6654,7 +6654,7 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 		}
 		else
 		{
-			_progress = lcd_selftest_screen(4 + _axis, _progress, 3, false, 0);
+			_progress = lcd_selftest_screen(3 + _axis, _progress, 3, false, 0);
 			_lcd_refresh = 0;
 		}
 

From edc412697c56e09f3ea3a4d4eefc0a8d0cbea394 Mon Sep 17 00:00:00 2001
From: Marek Bel <marek.bel@posta.cz>
Date: Thu, 24 Jan 2019 21:24:46 +0100
Subject: [PATCH 12/12] Increase selftest_irsensor() filament nozzle unload
 temperature to ABS.

Resume nozzle temperature immediately after unload.
---
 Firmware/ultralcd.cpp | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index ee97ff6e9..64899d398 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -7026,12 +7026,14 @@ static bool selftest_irsensor()
         float m_temp;
         uint8_t m_extruder;
     };
-
-    TempBackup tempBackup;
-    setTargetHotend(PLA_PREHEAT_HOTEND_TEMP,active_extruder);
-    mmu_wait_for_heater_blocking();
-    uint8_t progress = lcd_selftest_screen(9, 0, 1, true, 0);
-    mmu_filament_ramming();
+    uint8_t progress;
+    {
+        TempBackup tempBackup;
+        setTargetHotend(ABS_PREHEAT_HOTEND_TEMP,active_extruder);
+        mmu_wait_for_heater_blocking();
+        progress = lcd_selftest_screen(9, 0, 1, true, 0);
+        mmu_filament_ramming();
+    }
     progress = lcd_selftest_screen(9, progress, 1, true, 0);
     mmu_command(MMU_CMD_U0);
     manage_response(false, false);