From 6b5747750a1678c7c487c329c16416a0b34dabcb Mon Sep 17 00:00:00 2001
From: TheZeroBeast <TheZeroBeast@me.com>
Date: Sun, 11 Nov 2018 20:17:57 +1000
Subject: [PATCH] Heater Safety When Failed to load/unload

---
 Firmware/Configuration.h        |     4 +-
 Firmware/Firmware.ino.rambo.hex | 14301 ++++++++++++++++++++++++++++++
 Firmware/configuration_prusa.h  |   623 ++
 Firmware/mmu.cpp                |     4 +-
 4 files changed, 14928 insertions(+), 4 deletions(-)
 create mode 100644 Firmware/Firmware.ino.rambo.hex
 create mode 100644 Firmware/configuration_prusa.h

diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h
index e61cd68f5..04faafc81 100644
--- a/Firmware/Configuration.h
+++ b/Firmware/Configuration.h
@@ -7,8 +7,8 @@
 #define STR(x) STR_HELPER(x)
 
 // Firmware version
-#define FW_VERSION "5.0.1"
-#define FW_COMMIT_NR   2132
+#define FW_VERSION "5.0.2"
+#define FW_COMMIT_NR   9999
 // FW_VERSION_UNKNOWN means this is an unofficial build.
 // The firmware should only be checked into github with this symbol.
 #define FW_DEV_VERSION FW_VERSION_UNKNOWN
diff --git a/Firmware/Firmware.ino.rambo.hex b/Firmware/Firmware.ino.rambo.hex
new file mode 100644
index 000000000..c894ede85
--- /dev/null
+++ b/Firmware/Firmware.ino.rambo.hex
@@ -0,0 +1,14301 @@
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diff --git a/Firmware/configuration_prusa.h b/Firmware/configuration_prusa.h
new file mode 100644
index 000000000..f47a17dc1
--- /dev/null
+++ b/Firmware/configuration_prusa.h
@@ -0,0 +1,623 @@
+#ifndef CONFIGURATION_PRUSA_H
+#define CONFIGURATION_PRUSA_H
+
+/*------------------------------------
+ GENERAL SETTINGS
+ *------------------------------------*/
+
+// Printer revision
+#define PRINTER_TYPE PRINTER_MK3
+#define FILAMENT_SIZE "1_75mm_MK3"
+#define NOZZLE_TYPE "E3Dv6full"
+
+// Developer flag
+#define DEVELOPER
+
+// Printer name
+#define CUSTOM_MENDEL_NAME "Prusa i3 MK3"
+
+// Electronics
+#define MOTHERBOARD BOARD_EINSY_1_0a
+#define STEEL_SHEET
+#define HAS_SECOND_SERIAL_PORT
+
+
+// Uncomment the below for the E3D PT100 temperature sensor (with or without PT100 Amplifier)
+//#define E3D_PT100_EXTRUDER_WITH_AMP
+//#define E3D_PT100_EXTRUDER_NO_AMP
+//#define E3D_PT100_BED_WITH_AMP
+//#define E3D_PT100_BED_NO_AMP
+
+
+/*------------------------------------
+ AXIS SETTINGS
+ *------------------------------------*/
+
+// Steps per unit {X,Y,Z,E}
+//#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,140}
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,280}
+//#define DEFAULT_AXIS_STEPS_PER_UNIT   {100,100,3200/8,560}
+
+// Endstop inverting
+#define X_MIN_ENDSTOP_INVERTING 0 // set to 1 to invert the logic of the endstop.
+#define Y_MIN_ENDSTOP_INVERTING 0 // set to 1 to invert the logic of the endstop.
+#define Z_MIN_ENDSTOP_INVERTING 0 // set to 1 to invert the logic of the endstop.
+
+// Direction inverting
+#define INVERT_X_DIR 1    // for Mendel set to 0, for Orca set to 1
+#define INVERT_Y_DIR 0    // for Mendel set to 1, for Orca set to 0
+#define INVERT_Z_DIR 1     // for Mendel set to 0, for Orca set to 1
+#define INVERT_E0_DIR 0   // for direct drive extruder v9 set to 1, for geared extruder set to 0
+#define INVERT_E1_DIR 0    // for direct drive extruder v9 set to 1, for geared extruder set to 0
+#define INVERT_E2_DIR 0   // for direct drive extruder v9 set to 1, for geared extruder set to 0
+
+// Home position
+#define MANUAL_X_HOME_POS 0
+#define MANUAL_Y_HOME_POS -2.2
+#define MANUAL_Z_HOME_POS 0.2
+
+// Travel limits after homing
+#define X_MAX_POS 255
+#define X_MIN_POS 0
+#define Y_MAX_POS 212.5
+#define Y_MIN_POS -4 //orig -4
+#define Z_MAX_POS 210
+#define Z_MIN_POS 0.15
+
+// Canceled home position
+#define X_CANCEL_POS 50
+#define Y_CANCEL_POS 190
+
+//Pause print position
+#define X_PAUSE_POS 50
+#define Y_PAUSE_POS 190
+#define Z_PAUSE_LIFT 20
+
+#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
+#define HOMING_FEEDRATE {3000, 3000, 800, 0}  // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000
+
+//#define DEFAULT_Y_OFFSET    4.f // Default distance of Y_MIN_POS point from endstop, when the printer is not calibrated.
+/**
+ * [0,0] steel sheet print area point X coordinate in bed print area coordinates
+ */
+#define SHEET_PRINT_ZERO_REF_X 0.f
+/**
+ * [0,0] steel sheet print area point Y coordinate in bed print area coordinates
+ */
+#define SHEET_PRINT_ZERO_REF_Y -2.f
+
+#define DEFAULT_MAX_FEEDRATE                {200, 200, 12, 120}      // (mm/sec)   max feedrate (M203)
+#define DEFAULT_MAX_FEEDRATE_SILENT         {100, 100, 12, 120}      // (mm/sec)   max feedrate (M203), silent mode
+
+#define DEFAULT_MAX_ACCELERATION            {1000, 1000, 200, 5000}  // (mm/sec^2) max acceleration (M201)
+#define DEFAULT_MAX_ACCELERATION_SILENT     {960, 960, 200, 5000}    // (mm/sec^2) max acceleration (M201), silent mode
+
+
+#define DEFAULT_ACCELERATION          1250   // X, Y, Z and E max acceleration in mm/s^2 for printing moves (M204S)
+#define DEFAULT_RETRACT_ACCELERATION  1250   // X, Y, Z and E max acceleration in mm/s^2 for retracts (M204T)
+
+#define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
+
+//Silent mode limits
+#define SILENT_MAX_ACCEL_XY      960ul  // max acceleration in silent mode in mm/s^2
+#define SILENT_MAX_FEEDRATE_XY   100  // max feedrate in mm/s
+
+//Normal mode limits
+#define NORMAL_MAX_ACCEL_XY     2500ul  // max acceleration in normal mode in mm/s^2
+#define NORMAL_MAX_FEEDRATE_XY   200  // max feedrate in mm/s
+
+//number of bytes from end of the file to start check
+#define END_FILE_SECTION 20000
+
+#define Z_AXIS_ALWAYS_ON 1
+
+//Crash detection
+#define CRASHDET_TIMER 45 //seconds
+#define CRASHDET_COUNTER_MAX 3 
+
+// New XYZ calibration
+#define NEW_XYZCAL
+
+// Watchdog support
+#define WATCHDOG
+
+// Power panic
+#define UVLO_SUPPORT
+
+// Fan check
+#define FANCHECK
+
+// Safety timer
+#define SAFETYTIMER
+#define DEFAULT_SAFETYTIMER_TIME_MINS 30
+
+// Filament sensor
+#define PAT9125
+#define FILAMENT_SENSOR
+
+// Backlash - 
+//#define BACKLASH_X
+//#define BACKLASH_Y
+
+
+// Minimum ambient temperature limit to start triggering MINTEMP errors [C]
+// this value is litlebit higher that real limit, because ambient termistor is on the board and is temperated from it,
+// temperature inside the case is around 31C for ambient temperature 25C, when the printer is powered on long time and idle
+// the real limit is 15C (same as MINTEMP limit), this is because 15C is end of scale for both used thermistors (bed, heater)
+#define MINTEMP_MINAMBIENT      25
+#define MINTEMP_MINAMBIENT_RAW  978
+
+#define DEBUG_DCODE3
+
+//#define DEBUG_BUILD
+//#define DEBUG_SEC_LANG   //secondary language debug output at startup
+//#define DEBUG_W25X20CL   //debug external spi flash
+#ifdef DEBUG_BUILD
+//#define _NO_ASM
+#define DEBUG_DCODES //D codes
+#define DEBUG_STACK_MONITOR        //Stack monitor in stepper ISR
+//#define DEBUG_FSENSOR_LOG          //Reports fsensor status to serial
+//#define DEBUG_CRASHDET_COUNTERS  //Display crash-detection counters on LCD
+//#define DEBUG_RESUME_PRINT       //Resume/save print debug enable 
+//#define DEBUG_UVLO_AUTOMATIC_RECOVER // Power panic automatic recovery debug output 
+//#define DEBUG_DISABLE_XMINLIMIT  //x min limit ignored
+//#define DEBUG_DISABLE_XMAXLIMIT  //x max limit ignored
+//#define DEBUG_DISABLE_YMINLIMIT  //y min limit ignored
+//#define DEBUG_DISABLE_YMAXLIMIT  //y max limit ignored
+//#define DEBUG_DISABLE_ZMINLIMIT  //z min limit ignored
+//#define DEBUG_DISABLE_ZMAXLIMIT  //z max limit ignored
+#define DEBUG_DISABLE_STARTMSGS //no startup messages 
+//#define DEBUG_DISABLE_MINTEMP   //mintemp error ignored
+//#define DEBUG_DISABLE_SWLIMITS  //sw limits ignored
+//#define DEBUG_DISABLE_LCD_STATUS_LINE  //empty four lcd line
+//#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
+//#define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
+//#define DEBUG_DISABLE_FORCE_SELFTEST //disable force selftest
+//#define DEBUG_XSTEP_DUP_PIN 21   //duplicate x-step output to pin 21 (SCL on P3)
+//#define DEBUG_YSTEP_DUP_PIN 21   //duplicate y-step output to pin 21 (SCL on P3)
+//#define DEBUG_DISABLE_FANCHECK     //disable fan check (no ISR INT7, check disabled)
+//#define DEBUG_DISABLE_FSENSORCHECK //disable fsensor check (no ISR INT7, check disabled)
+#define DEBUG_DUMP_TO_2ND_SERIAL   //dump received characters to 2nd serial line
+#define DEBUG_STEPPER_TIMER_MISSED // Stop on stepper timer overflow, beep and display a message.
+#define PLANNER_DIAGNOSTICS // Show the planner queue status on printer display.
+#define CMD_DIAGNOSTICS //Show cmd queue length on printer display
+#endif /* DEBUG_BUILD */
+
+#define FSENSOR_QUALITY
+
+
+#define LINEARITY_CORRECTION
+#define TMC2130_LINEARITY_CORRECTION
+#define TMC2130_LINEARITY_CORRECTION_XYZ
+//#define TMC2130_VARIABLE_RESOLUTION
+
+
+
+/*------------------------------------
+ TMC2130 default settings
+ *------------------------------------*/
+
+#define TMC2130_FCLK 12000000       // fclk = 12MHz
+
+#define TMC2130_USTEPS_XY   16        // microstep resolution for XY axes
+#define TMC2130_USTEPS_Z    16        // microstep resolution for Z axis
+#define TMC2130_USTEPS_E    32        // microstep resolution for E axis
+#define TMC2130_INTPOL_XY   1         // extrapolate 256 for XY axes
+#define TMC2130_INTPOL_Z    1         // extrapolate 256 for Z axis
+#define TMC2130_INTPOL_E    1         // extrapolate 256 for E axis
+
+#define TMC2130_PWM_GRAD_X  2         // PWMCONF
+#define TMC2130_PWM_AMPL_X  230       // PWMCONF
+#define TMC2130_PWM_AUTO_X  1         // PWMCONF
+#define TMC2130_PWM_FREQ_X  2         // PWMCONF
+
+#define TMC2130_PWM_GRAD_Y  2         // PWMCONF
+#define TMC2130_PWM_AMPL_Y  235       // PWMCONF
+#define TMC2130_PWM_AUTO_Y  1         // PWMCONF
+#define TMC2130_PWM_FREQ_Y  2         // PWMCONF
+
+#define TMC2130_PWM_GRAD_Z  4         // PWMCONF
+#define TMC2130_PWM_AMPL_Z  200       // PWMCONF
+#define TMC2130_PWM_AUTO_Z  1         // PWMCONF
+#define TMC2130_PWM_FREQ_Z  2         // PWMCONF
+
+#define TMC2130_PWM_GRAD_E  4         // PWMCONF
+#define TMC2130_PWM_AMPL_E  240       // PWMCONF
+#define TMC2130_PWM_AUTO_E  1         // PWMCONF
+#define TMC2130_PWM_FREQ_E  2         // PWMCONF
+
+#define TMC2130_TOFF_XYZ    3         // CHOPCONF // fchop = 27.778kHz
+#define TMC2130_TOFF_E      3         // CHOPCONF // fchop = 27.778kHz
+//#define TMC2130_TOFF_E      4         // CHOPCONF // fchop = 21.429kHz
+//#define TMC2130_TOFF_E      5         // CHOPCONF // fchop = 17.442kHz
+
+//#define TMC2130_STEALTH_E // Extruder stealthChop mode
+//#define TMC2130_CNSTOFF_E // Extruder constant-off-time mode (similar to MK2)
+
+//#define TMC2130_PWM_DIV   683         // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_DIV   512         // PWM frequency divider (1024, 683, 512, 410)
+#define TMC2130_PWM_CLK   (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk)
+
+#define TMC2130_TPWMTHRS  0         // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
+#define TMC2130_THIGH     0         // THIGH - unused
+
+//#define TMC2130_TCOOLTHRS_X 450       // TCOOLTHRS - coolstep treshold
+//#define TMC2130_TCOOLTHRS_Y 450       // TCOOLTHRS - coolstep treshold
+#define TMC2130_TCOOLTHRS_X 430       // TCOOLTHRS - coolstep treshold
+#define TMC2130_TCOOLTHRS_Y 430       // TCOOLTHRS - coolstep treshold
+#define TMC2130_TCOOLTHRS_Z 500       // TCOOLTHRS - coolstep treshold
+#define TMC2130_TCOOLTHRS_E 500       // TCOOLTHRS - coolstep treshold
+
+#define TMC2130_SG_HOMING       1     // stallguard homing
+#define TMC2130_SG_THRS_X       3     // stallguard sensitivity for X axis
+#define TMC2130_SG_THRS_Y       3     // stallguard sensitivity for Y axis
+#define TMC2130_SG_THRS_Z       4     // stallguard sensitivity for Z axis
+#define TMC2130_SG_THRS_E       3     // stallguard sensitivity for E axis
+
+//new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
+#define TMC2130_CURRENTS_H {16, 20, 35, 30}  // default holding currents for all axes
+#define TMC2130_CURRENTS_R {16, 20, 35, 30}  // default running currents for all axes
+#define TMC2130_UNLOAD_CURRENT_R 12			 // lowe current for M600 to protect filament sensor 
+
+#define TMC2130_STEALTH_Z
+
+//#define TMC2130_DEBUG
+//#define TMC2130_DEBUG_WR
+//#define TMC2130_DEBUG_RD
+
+
+/*------------------------------------
+ EXTRUDER SETTINGS
+ *------------------------------------*/
+
+// Mintemps
+#define HEATER_0_MINTEMP 15
+#define HEATER_1_MINTEMP 5
+#define HEATER_2_MINTEMP 5
+#define BED_MINTEMP 15
+
+// Maxtemps
+#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
+#define HEATER_0_MAXTEMP 410
+#else
+#define HEATER_0_MAXTEMP 305
+#endif
+#define HEATER_1_MAXTEMP 305
+#define HEATER_2_MAXTEMP 305
+#define BED_MAXTEMP 125
+
+#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
+// Define PID constants for extruder with PT100
+#define  DEFAULT_Kp 21.70
+#define  DEFAULT_Ki 1.60
+#define  DEFAULT_Kd 73.76
+#else
+// Define PID constants for extruder
+//#define  DEFAULT_Kp 40.925
+//#define  DEFAULT_Ki 4.875
+//#define  DEFAULT_Kd 86.085
+#define  DEFAULT_Kp 16.13
+#define  DEFAULT_Ki 1.1625
+#define  DEFAULT_Kd 56.23
+#endif
+
+// Extrude mintemp
+#define EXTRUDE_MINTEMP 175
+
+// Extruder cooling fans
+#define EXTRUDER_0_AUTO_FAN_PIN   8
+#define EXTRUDER_1_AUTO_FAN_PIN   -1
+#define EXTRUDER_2_AUTO_FAN_PIN   -1
+#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
+#define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
+
+
+
+/*------------------------------------
+ LOAD/UNLOAD FILAMENT SETTINGS
+ *------------------------------------*/
+
+// Load filament commands
+#define LOAD_FILAMENT_0 "M83"
+#define LOAD_FILAMENT_1 "G1 E70 F400"
+#define LOAD_FILAMENT_2 "G1 E40 F100"
+
+// Unload filament commands
+#define UNLOAD_FILAMENT_0 "M83"
+#define UNLOAD_FILAMENT_1 "G1 E-80 F7000"
+
+/*------------------------------------
+ CHANGE FILAMENT SETTINGS
+ *------------------------------------*/
+
+// Filament change configuration
+#define FILAMENTCHANGEENABLE
+#ifdef FILAMENTCHANGEENABLE
+#define FILAMENTCHANGE_XPOS 211
+#define FILAMENTCHANGE_YPOS 0
+#define FILAMENTCHANGE_ZADD 2
+#define FILAMENTCHANGE_FIRSTRETRACT -2
+#define FILAMENTCHANGE_FINALRETRACT -80
+
+#define FILAMENTCHANGE_FIRSTFEED 70
+#define FILAMENTCHANGE_FINALFEED 50
+#define FILAMENTCHANGE_RECFEED 5
+
+#define FILAMENTCHANGE_XYFEED 50
+#define FILAMENTCHANGE_EFEED 20
+//#define FILAMENTCHANGE_RFEED 400
+#define FILAMENTCHANGE_RFEED 7000 / 60
+#define FILAMENTCHANGE_EXFEED 2
+#define FILAMENTCHANGE_ZFEED 15
+
+#endif
+
+/*------------------------------------
+ ADDITIONAL FEATURES SETTINGS
+ *------------------------------------*/
+
+// Define Prusa filament runout sensor
+//#define FILAMENT_RUNOUT_SUPPORT
+
+#ifdef FILAMENT_RUNOUT_SUPPORT
+#define FILAMENT_RUNOUT_SENSOR 1
+#endif
+
+// temperature runaway
+#define TEMP_RUNAWAY_BED_HYSTERESIS 5
+#define TEMP_RUNAWAY_BED_TIMEOUT 360
+
+#define TEMP_RUNAWAY_EXTRUDER_HYSTERESIS 15
+#define TEMP_RUNAWAY_EXTRUDER_TIMEOUT 45
+
+/*------------------------------------
+ MOTOR CURRENT SETTINGS
+ *------------------------------------*/
+
+// Motor Current setting for BIG RAMBo
+#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+#define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
+
+// Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
+#if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
+#define MOTOR_CURRENT_PWM_RANGE 2000
+#define DEFAULT_PWM_MOTOR_CURRENT  {400, 750, 750} // {XY,Z,E}
+#define DEFAULT_PWM_MOTOR_CURRENT_LOUD  {400, 750, 750} // {XY,Z,E}
+#endif
+
+/*------------------------------------
+ BED SETTINGS
+ *------------------------------------*/
+
+// Define Mesh Bed Leveling system to enable it
+#define MESH_BED_LEVELING
+#ifdef MESH_BED_LEVELING
+
+#define MBL_Z_STEP 0.01
+
+// Mesh definitions
+#define MESH_MIN_X 35
+#define MESH_MAX_X 238
+#define MESH_MIN_Y 6
+#define MESH_MAX_Y 202
+
+// Mesh upsample definition
+#define MESH_NUM_X_POINTS 7
+#define MESH_NUM_Y_POINTS 7
+// Mesh measure definition
+#define MESH_MEAS_NUM_X_POINTS 3
+#define MESH_MEAS_NUM_Y_POINTS 3
+
+#define MESH_HOME_Z_CALIB 0.2
+#define MESH_HOME_Z_SEARCH 5 //Z lift for homing, mesh bed leveling etc.
+
+#define X_PROBE_OFFSET_FROM_EXTRUDER 23     // Z probe to nozzle X offset: -left  +right
+#define Y_PROBE_OFFSET_FROM_EXTRUDER 5     // Z probe to nozzle Y offset: -front +behind
+#define Z_PROBE_OFFSET_FROM_EXTRUDER -0.4  // Z probe to nozzle Z offset: -below (always!)
+#endif
+
+// Bed Temperature Control
+// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
+//
+// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
+// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
+// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
+// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
+// If your configuration is significantly different than this and you don't understand the issues involved, you probably
+// shouldn't use bed PID until someone else verifies your hardware works.
+// If this is enabled, find your own PID constants below.
+#define PIDTEMPBED
+//
+//#define BED_LIMIT_SWITCHING
+
+// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
+// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
+// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
+// so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
+#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
+
+// Bed temperature compensation settings
+#define BED_OFFSET 10
+#define BED_OFFSET_START 40
+#define BED_OFFSET_CENTER 50
+
+
+#ifdef PIDTEMPBED
+//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
+//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
+#if defined(E3D_PT100_BED_WITH_AMP) || defined(E3D_PT100_BED_NO_AMP)
+// Define PID constants for extruder with PT100
+#define  DEFAULT_bedKp 21.70
+#define  DEFAULT_bedKi 1.60
+#define  DEFAULT_bedKd 73.76
+#else
+#define  DEFAULT_bedKp 126.13
+#define  DEFAULT_bedKi 4.30
+#define  DEFAULT_bedKd 924.76
+#endif
+
+//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
+//from pidautotune
+//    #define  DEFAULT_bedKp 97.1
+//    #define  DEFAULT_bedKi 1.41
+//    #define  DEFAULT_bedKd 1675.16
+
+// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
+#endif // PIDTEMPBED
+
+//connect message when communication with monitoring broken
+//#define FARM_CONNECT_MESSAGE
+
+/*-----------------------------------
+ PREHEAT SETTINGS
+ *------------------------------------*/
+
+#define FARM_PREHEAT_HOTEND_TEMP 250
+#define FARM_PREHEAT_HPB_TEMP 60
+#define FARM_PREHEAT_FAN_SPEED 0
+
+#define PLA_PREHEAT_HOTEND_TEMP 215
+#define PLA_PREHEAT_HPB_TEMP 60
+#define PLA_PREHEAT_FAN_SPEED 0
+
+#define ABS_PREHEAT_HOTEND_TEMP 255
+#define ABS_PREHEAT_HPB_TEMP 100
+#define ABS_PREHEAT_FAN_SPEED 0
+
+#define HIPS_PREHEAT_HOTEND_TEMP 220
+#define HIPS_PREHEAT_HPB_TEMP 100
+#define HIPS_PREHEAT_FAN_SPEED 0
+
+#define PP_PREHEAT_HOTEND_TEMP 254
+#define PP_PREHEAT_HPB_TEMP 100
+#define PP_PREHEAT_FAN_SPEED 0
+
+#define PET_PREHEAT_HOTEND_TEMP 230
+#define PET_PREHEAT_HPB_TEMP 85
+#define PET_PREHEAT_FAN_SPEED 0
+
+#define FLEX_PREHEAT_HOTEND_TEMP 240
+#define FLEX_PREHEAT_HPB_TEMP 50
+#define FLEX_PREHEAT_FAN_SPEED 0
+
+/*------------------------------------
+ THERMISTORS SETTINGS
+ *------------------------------------*/
+
+//
+//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
+//
+//// Temperature sensor settings:
+// -2 is thermocouple with MAX6675 (only for sensor 0)
+// -1 is thermocouple with AD595
+// 0 is not used
+// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
+// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
+// 3 is Mendel-parts thermistor (4.7k pullup)
+// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
+// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
+// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
+// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
+// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
+// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
+// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
+// 10 is 100k RS thermistor 198-961 (4.7k pullup)
+// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
+// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
+// 13 is 100k Hisens 3950  1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
+// 20 is the PT100 circuit found in the Ultimainboard V2.x
+// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
+//
+//    1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
+//                          (but gives greater accuracy and more stable PID)
+// 51 is 100k thermistor - EPCOS (1k pullup)
+// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
+// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
+//
+// 1047 is Pt1000 with 4k7 pullup
+// 1010 is Pt1000 with 1k pullup (non standard)
+// 147 is Pt100 with 4k7 pullup
+// 148 is E3D Pt100 with 4k7 pullup and no PT100 Amplifier on a MiniRambo 1.3a
+// 247 is Pt100 with 4k7 pullup and PT100 Amplifier
+// 110 is Pt100 with 1k pullup (non standard)
+
+#if defined(E3D_PT100_EXTRUDER_WITH_AMP)
+#define TEMP_SENSOR_0 247
+#elif defined(E3D_PT100_EXTRUDER_NO_AMP)
+#define TEMP_SENSOR_0 148
+#else
+#define TEMP_SENSOR_0 5
+#endif
+#define TEMP_SENSOR_1 0
+#define TEMP_SENSOR_2 0
+#if defined(E3D_PT100_BED_WITH_AMP)
+#define TEMP_SENSOR_BED 247
+#elif defined(E3D_PT100_BED_NO_AMP)
+#define TEMP_SENSOR_BED 148
+#else
+#define TEMP_SENSOR_BED 1
+#endif
+#define TEMP_SENSOR_PINDA 1
+#define TEMP_SENSOR_AMBIENT 2000
+
+#define STACK_GUARD_TEST_VALUE 0xA2A2
+
+#define MAX_BED_TEMP_CALIBRATION 50
+#define MAX_HOTEND_TEMP_CALIBRATION 50
+
+#define MAX_E_STEPS_PER_UNIT 250
+#define MIN_E_STEPS_PER_UNIT 100
+
+#define Z_BABYSTEP_MIN -3999
+#define Z_BABYSTEP_MAX 0
+
+#define PINDA_PREHEAT_X 20
+#define PINDA_PREHEAT_Y 60
+#define PINDA_PREHEAT_Z 0.15
+/*
+#define PINDA_PREHEAT_X 70
+#define PINDA_PREHEAT_Y -3
+#define PINDA_PREHEAT_Z 1*/
+#define PINDA_HEAT_T 120 //time in s
+
+#define PINDA_MIN_T 50
+#define PINDA_STEP_T 10
+#define PINDA_MAX_T 100
+
+#define PING_TIME 60 //time in s
+#define PING_TIME_LONG 600 //10 min; used when length of commands buffer > 0 to avoid 0 triggering when dealing with long gcodes
+#define PING_ALLERT_PERIOD 60 //time in s
+
+#define NC_TIME 10 //time in s for periodic important status messages sending which needs reponse from monitoring
+#define NC_BUTTON_LONG_PRESS 15 //time in s
+
+#define LONG_PRESS_TIME 1000 //time in ms for button long press
+#define BUTTON_BLANKING_TIME 200 //time in ms for blanking after button release
+
+#define DEFAULT_PID_TEMP 210
+
+#define MIN_PRINT_FAN_SPEED 75
+
+
+// How much shall the print head be lifted on power panic?
+// Ideally the Z axis will reach a zero phase of the stepper driver on power outage. To simplify this,
+// UVLO_Z_AXIS_SHIFT shall be an integer multiply of the stepper driver cycle, that is 4x full step.
+// For example, the Prusa i3 MK2 with 16 microsteps per full step has Z stepping of 400 microsteps per mm.
+// At 400 microsteps per mm, a full step lifts the Z axis by 0.04mm, and a stepper driver cycle is 0.16mm.
+// The following example, 12 * (4 * 16 / 400) = 12 * 0.16mm = 1.92mm.
+//#define UVLO_Z_AXIS_SHIFT 1.92
+#define UVLO_Z_AXIS_SHIFT 0.64
+// If power panic occured, and the current temperature is higher then target temperature before interrupt minus this offset, print will be recovered automatically. 
+#define AUTOMATIC_UVLO_BED_TEMP_OFFSET 5 
+
+#define HEATBED_V2
+
+#define M600_TIMEOUT 600  //seconds
+
+//#define SUPPORT_VERBOSITY
+
+#define MMU_REQUIRED_FW_BUILDNR 83
+#define MMU_HWRESET
+//#define MMU_DEBUG //print communication between MMU2 and printer on serial
+
+#endif //__CONFIGURATION_PRUSA_H
diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp
index 95fda799c..3dd116b08 100644
--- a/Firmware/mmu.cpp
+++ b/Firmware/mmu.cpp
@@ -422,7 +422,7 @@ void mmu_loop(void)
             }
             mmu_cmd = 0;
         }
-        else if ((mmu_last_response + 500) < millis()) //request every 500ms
+        else if (((mmu_last_response + 500) < millis()) && !mmuFSensorLoading) //request every 500ms
         {
             mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
             mmu_state = 2;
@@ -540,7 +540,7 @@ bool mmu_get_response(void)
     }
     while (!mmu_ready)
     {
-        if ((mmu_state == 3) || (mmu_state == 10) || (mmuFSensorLoading)) {
+        if ((mmu_state == 3) || (mmu_state == 10) || ((mmuFSensorLoading) && ((mmu_last_request + MMU_CMD_TIMEOUT) > millis()))) {
             delay_keep_alive(100);
         } else {
             break;