Merge branch 'MK3' into 2477-redux

.github/travis/legacy-build.sh

@@ -19,4 +19,12 @@ bash -x build.sh || { echo "1_75mm_MK25-RAMBo13a-E3Dv6full variant failed" && fa
 rm Firmware/Configuration_prusa.h
 cp Firmware/variants/1_75mm_MK25-RAMBo10a-E3Dv6full.h Firmware/Configuration_prusa.h
 bash -x build.sh || { echo "1_75mm_MK25-RAMBo10a-E3Dv6full variant failed" && false; }
+cp Firmware/variants/1_75mm_MK3S-EINSy10a-E3DREVO.h Firmware/Configuration_prusa.h
+bash -x build.sh || { echo "1_75mm_MK3S-EINSy10a-E3DREVO variant failed" && false; }
+cp Firmware/variants/1_75mm_MK3-EINSy10a-E3DREVO.h Firmware/Configuration_prusa.h
+bash -x build.sh || { echo "1_75mm_MK3-EINSy10a-E3DREVO variant failed" && false; }
+cp Firmware/variants/1_75mm_MK3S-EINSy10a-E3DREVO_HF_60W.h Firmware/Configuration_prusa.h
+bash -x build.sh || { echo "1_75mm_MK3S-EINSy10a-E3DREVO_HF_60W variant failed" && false; }
+cp Firmware/variants/1_75mm_MK3-EINSy10a-E3DREVO_HF_60W.h Firmware/Configuration_prusa.h
+bash -x build.sh || { echo "1_75mm_MK3-EINSy10a-E3DREVO_HF_60W variant failed" && false; }
 rm Firmware/Configuration_prusa.h

CMakeLists.txt

@@ -163,6 +163,7 @@ set(FW_SOURCES
     optiboot_xflash.cpp
     pat9125.cpp
     planner.cpp
+    power_panic.cpp
     Prusa_farm.cpp
     qr_solve.cpp
     rbuf.c

Community_made.md

@@ -1,5 +1,6 @@
 # Community made
-
+Community made features aren't fully supported by Prusa and the owners are responsible to maintain them.
+In case the feature isn't maintained OR causes issues Prusa will deactivate these.
 ## Prusa-Firmware build
 - `PF-build.sh`
   - Maintainers: **@3d-gussner**
@@ -32,5 +33,33 @@ After compiling with `PF-build.sh` you get the option to start the `MK404` simul
 
 Help `./MK404-build.sh -h`
 
-## Translations
+# Translations
 - see [/lang/Community_made_translations.md](https://github.com/prusa3d/Prusa-Firmware/blob/MK3/lang/Community_made_translations.md)
+
+# Arc interpolation features
+**Arc interpolation features by @FormerLurker**
+Please read more about it [here](https://github.com/prusa3d/Prusa-Firmware/pull/2657) and [here](https://github.com/FormerLurker/ArcWelderPlugin)
+
+- Maintainers: **@FormerLurker**
+- Co-maintainers:
+- Contributors:
+- [X] **Active**      since January 2023
+- [X] **Maintained**  since May 2020
+
+# MeatPack
+**MeatPack by @scottmudge**
+Please read more about it [here](https://github.com/prusa3d/Prusa-Firmware/pull/2955), [here](https://github.com/prusa3d/Prusa-Firmware/pull/4067) and [here](https://github.com/scottmudge/OctoPrint-MeatPack/)
+
+- Maintainers: **@scottmudge**
+- Co-maintainers:
+- Contributors:
+- [X] **Active**      since April 2023
+- [X] **Maintained**  since January 2021
+
+# E3D Revo
+**The E3D REVO support is a community effort thanks to these Contributors, E3D and others.**
+- Maintainers: **E3D**
+- Co-maintainers:
+- Contributors: @alexiri @kromeninja @ulab @JWvP @snafu1282 @matthiazzz @sdh2 @jdrozdz @peschkaj @MarcelTh @zuidwijk @davejhilton @WhiterRice @NightSkySK @D-an-W
+- [X] **Active**      since June 2023
+- [X] **Maintained**  since April 2023

Firmware/Configuration.h

@@ -24,7 +24,7 @@ extern const char _sPrinterMmuName[] PROGMEM;
     #define FW_VERSION STR(FW_MAJOR) "." STR(FW_MINOR) "." STR(FW_REVISION) "-" STR(FW_FLAVOR) "" STR(FW_FLAVERSION)
 #endif
 
-#define FW_COMMIT_NR 6565
+#define FW_COMMIT_NR 6853
 
 // FW_VERSION_UNKNOWN means this is an unofficial build.
 // The firmware should only be checked into github with this symbol.
@@ -39,7 +39,7 @@ extern const char _sPrinterMmuName[] PROGMEM;
 // The debug build may be a bit slower than the non-debug build, therefore the debug build should
 // not be shipped to a customer.
 #define FW_VERSION_DEBUG    6
-// This is a development build. A development build is either built from an unofficial git repository, 
+// This is a development build. A development build is either built from an unofficial git repository,
 // or from an unofficial branch, or it does not have a label set. Only the build server should set this build type.
 #define FW_VERSION_DEVEL    5
 // This is an alpha release. Only the build server should set this build type.

Firmware/ConfigurationStore.cpp

@@ -3,14 +3,9 @@
 #include "Marlin.h"
 #include "planner.h"
 #include "temperature.h"
-#include "ultralcd.h"
 #include "ConfigurationStore.h"
 #include "Configuration_var.h"
 
-#ifdef MESH_BED_LEVELING
-#include "mesh_bed_leveling.h"
-#endif
-
 #ifdef TMC2130
 #include "tmc2130.h"
 #endif
@@ -32,17 +27,17 @@ void Config_PrintSettings(uint8_t level)
 		"%SMaximum acceleration - normal (mm/s2):\n%S  M201 X%lu Y%lu Z%lu E%lu\n"
 		"%SMaximum acceleration - stealth (mm/s2):\n%S  M201 X%lu Y%lu Z%lu E%lu\n"
 		"%SAcceleration: P=print, R=retract, T=travel\n%S  M204 P%.2f R%.2f T%.2f\n"
-		"%SAdvanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s),  Z=maximum Z jerk (mm/s),  E=maximum E jerk (mm/s)\n%S  M205 S%.2f T%.2f B%.2f X%.2f Y%.2f Z%.2f E%.2f\n"
+		"%SAdvanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (us), X=maximum XY jerk (mm/s),  Z=maximum Z jerk (mm/s),  E=maximum E jerk (mm/s)\n%S  M205 S%.2f T%.2f B%lu X%.2f Y%.2f Z%.2f E%.2f\n"
 		"%SHome offset (mm):\n%S  M206 X%.2f Y%.2f Z%.2f\n"
 		),
-		echomagic, echomagic, cs.axis_steps_per_unit[X_AXIS], cs.axis_steps_per_unit[Y_AXIS], cs.axis_steps_per_unit[Z_AXIS], cs.axis_steps_per_unit[E_AXIS],
+		echomagic, echomagic, cs.axis_steps_per_mm[X_AXIS], cs.axis_steps_per_mm[Y_AXIS], cs.axis_steps_per_mm[Z_AXIS], cs.axis_steps_per_mm[E_AXIS],
 		echomagic, echomagic, cs.axis_ustep_resolution[X_AXIS], cs.axis_ustep_resolution[Y_AXIS], cs.axis_ustep_resolution[Z_AXIS], cs.axis_ustep_resolution[E_AXIS],
 		echomagic, echomagic, cs.max_feedrate_normal[X_AXIS], cs.max_feedrate_normal[Y_AXIS], cs.max_feedrate_normal[Z_AXIS], cs.max_feedrate_normal[E_AXIS],
 		echomagic, echomagic, cs.max_feedrate_silent[X_AXIS], cs.max_feedrate_silent[Y_AXIS], cs.max_feedrate_silent[Z_AXIS], cs.max_feedrate_silent[E_AXIS],
-		echomagic, echomagic, cs.max_acceleration_units_per_sq_second_normal[X_AXIS], cs.max_acceleration_units_per_sq_second_normal[Y_AXIS], cs.max_acceleration_units_per_sq_second_normal[Z_AXIS], cs.max_acceleration_units_per_sq_second_normal[E_AXIS],
-		echomagic, echomagic, cs.max_acceleration_units_per_sq_second_silent[X_AXIS], cs.max_acceleration_units_per_sq_second_silent[Y_AXIS], cs.max_acceleration_units_per_sq_second_silent[Z_AXIS], cs.max_acceleration_units_per_sq_second_silent[E_AXIS],
+		echomagic, echomagic, cs.max_acceleration_mm_per_s2_normal[X_AXIS], cs.max_acceleration_mm_per_s2_normal[Y_AXIS], cs.max_acceleration_mm_per_s2_normal[Z_AXIS], cs.max_acceleration_mm_per_s2_normal[E_AXIS],
+		echomagic, echomagic, cs.max_acceleration_mm_per_s2_silent[X_AXIS], cs.max_acceleration_mm_per_s2_silent[Y_AXIS], cs.max_acceleration_mm_per_s2_silent[Z_AXIS], cs.max_acceleration_mm_per_s2_silent[E_AXIS],
 		echomagic, echomagic, cs.acceleration, cs.retract_acceleration, cs.travel_acceleration,
-		echomagic, echomagic, cs.minimumfeedrate, cs.mintravelfeedrate, cs.minsegmenttime, cs.max_jerk[X_AXIS], cs.max_jerk[Y_AXIS], cs.max_jerk[Z_AXIS], cs.max_jerk[E_AXIS],
+		echomagic, echomagic, cs.minimumfeedrate, cs.mintravelfeedrate, cs.min_segment_time_us, cs.max_jerk[X_AXIS], cs.max_jerk[Y_AXIS], cs.max_jerk[Z_AXIS], cs.max_jerk[E_AXIS],
 		echomagic, echomagic, cs.add_homing[X_AXIS], cs.add_homing[Y_AXIS], cs.add_homing[Z_AXIS]
 #else //TMC2130
 	printf_P(PSTR(
@@ -50,14 +45,14 @@ void Config_PrintSettings(uint8_t level)
 		"%SMaximum feedrates (mm/s):\n%S  M203 X%.2f Y%.2f Z%.2f E%.2f\n"
 		"%SMaximum acceleration (mm/s2):\n%S  M201 X%lu Y%lu Z%lu E%lu\n"
 		"%SAcceleration: P=print, R=retract, T=travel\n%S  M204 P%.2f R%.2f T%.2f\n"
-		"%SAdvanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s),  Z=maximum Z jerk (mm/s),  E=maximum E jerk (mm/s)\n%S  M205 S%.2f T%.2f B%.2f X%.2f Y%.2f Z%.2f E%.2f\n"
+		"%SAdvanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (us), X=maximum XY jerk (mm/s),  Z=maximum Z jerk (mm/s),  E=maximum E jerk (mm/s)\n%S  M205 S%.2f T%.2f B%lu X%.2f Y%.2f Z%.2f E%.2f\n"
 		"%SHome offset (mm):\n%S  M206 X%.2f Y%.2f Z%.2f\n"
 		),
-		echomagic, echomagic, cs.axis_steps_per_unit[X_AXIS], cs.axis_steps_per_unit[Y_AXIS], cs.axis_steps_per_unit[Z_AXIS], cs.axis_steps_per_unit[E_AXIS],
+		echomagic, echomagic, cs.axis_steps_per_mm[X_AXIS], cs.axis_steps_per_mm[Y_AXIS], cs.axis_steps_per_mm[Z_AXIS], cs.axis_steps_per_mm[E_AXIS],
 		echomagic, echomagic, max_feedrate[X_AXIS], max_feedrate[Y_AXIS], max_feedrate[Z_AXIS], max_feedrate[E_AXIS],
-		echomagic, echomagic, max_acceleration_units_per_sq_second[X_AXIS], max_acceleration_units_per_sq_second[Y_AXIS], max_acceleration_units_per_sq_second[Z_AXIS], max_acceleration_units_per_sq_second[E_AXIS],
+		echomagic, echomagic, max_acceleration_mm_per_s2[X_AXIS], max_acceleration_mm_per_s2[Y_AXIS], max_acceleration_mm_per_s2[Z_AXIS], max_acceleration_mm_per_s2[E_AXIS],
 		echomagic, echomagic, cs.acceleration, cs.retract_acceleration, cs.travel_acceleration,
-		echomagic, echomagic, cs.minimumfeedrate, cs.mintravelfeedrate, cs.minsegmenttime, cs.max_jerk[X_AXIS], cs.max_jerk[Y_AXIS], cs.max_jerk[Z_AXIS], cs.max_jerk[E_AXIS],
+		echomagic, echomagic, cs.minimumfeedrate, cs.mintravelfeedrate, cs.min_segment_time_us, cs.max_jerk[X_AXIS], cs.max_jerk[Y_AXIS], cs.max_jerk[Z_AXIS], cs.max_jerk[E_AXIS],
 		echomagic, echomagic, cs.add_homing[X_AXIS], cs.add_homing[Y_AXIS], cs.add_homing[Z_AXIS]
 #endif //TMC2130
   );
@@ -108,8 +103,8 @@ void Config_PrintSettings(uint8_t level)
     printf_P(PSTR(
         "%SArc Settings: P:Max length(mm) S:Min length (mm) N:Corrections R:Min segments F:Segments/sec.\n%S  M214 P%.2f S%.2f N%d R%d F%d\n"),
         echomagic, echomagic, cs.mm_per_arc_segment, cs.min_mm_per_arc_segment, cs.n_arc_correction, cs.min_arc_segments, cs.arc_segments_per_sec);
-#ifdef TEMP_MODEL
-    temp_model_report_settings();
+#ifdef THERMAL_MODEL
+    thermal_model_report_settings();
 #endif
 }
 #endif
@@ -119,8 +114,8 @@ void Config_PrintSettings(uint8_t level)
 
 static_assert (EXTRUDERS == 1, "ConfigurationStore M500_conf not implemented for more extruders, fix filament_size array size.");
 static_assert (NUM_AXIS == 4, "ConfigurationStore M500_conf not implemented for more axis."
-        "Fix axis_steps_per_unit max_feedrate_normal max_acceleration_units_per_sq_second_normal max_jerk max_feedrate_silent"
-        " max_acceleration_units_per_sq_second_silent array size.");
+        "Fix axis_steps_per_mm max_feedrate_normal max_acceleration_mm_per_s2_normal max_jerk max_feedrate_silent"
+        " max_acceleration_mm_per_s2_silent array size.");
 #ifdef ENABLE_AUTO_BED_LEVELING
 static_assert (false, "zprobe_zoffset was not initialized in printers in field to -(Z_PROBE_OFFSET_FROM_EXTRUDER), so it contains"
         "0.0, if this is not acceptable, increment EEPROM_VERSION to force use default_conf");
@@ -187,8 +182,8 @@ void Config_StoreSettings()
 {
   strcpy_P(cs.version, default_conf.version);
   eeprom_update_block(reinterpret_cast<uint8_t*>(&cs), reinterpret_cast<uint8_t*>(EEPROM_M500_base), sizeof(cs));
-#ifdef TEMP_MODEL
-  temp_model_save_settings();
+#ifdef THERMAL_MODEL
+  thermal_model_save_settings();
 #endif
 
   SERIAL_ECHO_START;
@@ -215,9 +210,9 @@ bool Config_RetrieveSettings()
         // Initialize the travel_acceleration in eeprom if not already
         eeprom_init_default_float(&EEPROM_M500_base->travel_acceleration, pgm_read_float(&default_conf.travel_acceleration));
 
-        // Initialize the max_feedrate_silent and max_acceleration_units_per_sq_second_silent in eeprom if not already
+        // Initialize the max_feedrate_silent and max_acceleration_mm_per_s2_silent in eeprom if not already
         eeprom_init_default_block(&EEPROM_M500_base->max_feedrate_silent, sizeof(EEPROM_M500_base->max_feedrate_silent), default_conf.max_feedrate_silent);
-        eeprom_init_default_block(&EEPROM_M500_base->max_acceleration_units_per_sq_second_silent, sizeof(EEPROM_M500_base->max_acceleration_units_per_sq_second_silent), default_conf.max_acceleration_units_per_sq_second_silent);
+        eeprom_init_default_block(&EEPROM_M500_base->max_acceleration_mm_per_s2_silent, sizeof(EEPROM_M500_base->max_acceleration_mm_per_s2_silent), default_conf.max_acceleration_mm_per_s2_silent);
 
         // load the CS to RAM
         eeprom_read_block(reinterpret_cast<uint8_t*>(&cs), reinterpret_cast<uint8_t*>(EEPROM_M500_base), sizeof(cs));
@@ -230,10 +225,10 @@ bool Config_RetrieveSettings()
         cs.max_feedrate_normal[j] = NORMAL_MAX_FEEDRATE_XY;
       if (cs.max_feedrate_silent[j] > SILENT_MAX_FEEDRATE_XY)
         cs.max_feedrate_silent[j] = SILENT_MAX_FEEDRATE_XY;
-      if (cs.max_acceleration_units_per_sq_second_normal[j] > NORMAL_MAX_ACCEL_XY)
-        cs.max_acceleration_units_per_sq_second_normal[j] = NORMAL_MAX_ACCEL_XY;
-      if (cs.max_acceleration_units_per_sq_second_silent[j] > SILENT_MAX_ACCEL_XY)
-        cs.max_acceleration_units_per_sq_second_silent[j] = SILENT_MAX_ACCEL_XY;
+      if (cs.max_acceleration_mm_per_s2_normal[j] > NORMAL_MAX_ACCEL_XY)
+        cs.max_acceleration_mm_per_s2_normal[j] = NORMAL_MAX_ACCEL_XY;
+      if (cs.max_acceleration_mm_per_s2_silent[j] > SILENT_MAX_ACCEL_XY)
+        cs.max_acceleration_mm_per_s2_silent[j] = SILENT_MAX_ACCEL_XY;
     }
         
     if(cs.axis_ustep_resolution[X_AXIS] == 0xff){ cs.axis_ustep_resolution[X_AXIS] = TMC2130_USTEPS_XY; }
@@ -251,8 +246,8 @@ bool Config_RetrieveSettings()
 
     // Call updatePID (similar to when we have processed M301)
     updatePID();
-#ifdef TEMP_MODEL
-    temp_model_load_settings();
+#ifdef THERMAL_MODEL
+    thermal_model_load_settings();
 #endif
 
         SERIAL_ECHO_START;
@@ -281,8 +276,8 @@ void Config_ResetDefault()
 #ifdef PIDTEMP
     updatePID();
 #endif//PIDTEMP
-#ifdef TEMP_MODEL
-    temp_model_reset_settings();
+#ifdef THERMAL_MODEL
+    thermal_model_reset_settings();
 #endif
 
   calculate_extruder_multipliers();

Firmware/ConfigurationStore.h

@@ -9,14 +9,14 @@
 typedef struct
 {
     char version[4];
-    float axis_steps_per_unit[4];
+    float axis_steps_per_mm[4];
     float max_feedrate_normal[4];
-    unsigned long max_acceleration_units_per_sq_second_normal[4];
+    uint32_t max_acceleration_mm_per_s2_normal[4];
     float acceleration; //!< Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
     float retract_acceleration; //!< mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
     float minimumfeedrate;
     float mintravelfeedrate;
-    unsigned long minsegmenttime;
+    uint32_t min_segment_time_us; //!< (µs) M205 B
     float max_jerk[4]; //!< Jerk is a maximum immediate velocity change.
     float add_homing[3];
     float zprobe_zoffset; //!< Only used with define ENABLE_AUTO_BED_LEVELING
@@ -36,7 +36,7 @@ typedef struct
     bool volumetric_enabled;
     float filament_size[1]; //!< cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder.
     float max_feedrate_silent[4]; //!< max speeds for silent mode
-    unsigned long max_acceleration_units_per_sq_second_silent[4];
+    uint32_t max_acceleration_mm_per_s2_silent[4];
     unsigned char axis_ustep_resolution[4];
     float travel_acceleration; //!< travel acceleration mm/s^2
     // Arc Interpolation Settings, configurable via M214

Firmware/Configuration_adv.h

@@ -346,62 +346,11 @@ const unsigned int dropsegments=5; //everything with less than this number of st
 // 2nd and 3rd byte (LSB first) contains a 16bit length of a command including its preceding comments.
 #define CMDHDRSIZE 3
 
-/**
- * Advanced Pause for Filament Change
- *  - Adds the G-code M600 Filament Change to initiate a filament change.
- *  - This feature is required for the default FILAMENT_RUNOUT_SCRIPT.
- *
- * Requirements:
- *  - For Filament Change parking enable and configure NOZZLE_PARK_FEATURE.
- *  - For user interaction enable an LCD display, HOST_PROMPT_SUPPORT, or EMERGENCY_PARSER.
- *
- * Enable PARK_HEAD_ON_PAUSE to add the G-code M125 Pause and Park.
- */
-
-#define PAUSE_PARK_RETRACT_FEEDRATE         60  // (mm/s) Initial retract feedrate.
-#define PAUSE_PARK_RETRACT_LENGTH            2  // (mm) Initial retract.
-                                                // This short retract is done immediately, before parking the nozzle.
-#define FILAMENT_CHANGE_UNLOAD_FEEDRATE     10  // (mm/s) Unload filament feedrate. This can be pretty fast.
-#define FILAMENT_CHANGE_UNLOAD_ACCEL        25  // (mm/s^2) Lower acceleration may allow a faster feedrate.
-#define FILAMENT_CHANGE_UNLOAD_LENGTH      100  // (mm) The length of filament for a complete unload.
-                                                //   For Bowden, the full length of the tube and nozzle.
-                                                //   For direct drive, the full length of the nozzle.
-                                                //   Set to 0 for manual unloading.
-#define FILAMENT_CHANGE_SLOW_LOAD_FEEDRATE   6  // (mm/s) Slow move when starting load.
-#define FILAMENT_CHANGE_SLOW_LOAD_LENGTH     0  // (mm) Slow length, to allow time to insert material.
-                                                // 0 to disable start loading and skip to fast load only
-#define FILAMENT_CHANGE_FAST_LOAD_FEEDRATE   6  // (mm/s) Load filament feedrate. This can be pretty fast.
-#define FILAMENT_CHANGE_FAST_LOAD_ACCEL     25  // (mm/s^2) Lower acceleration may allow a faster feedrate.
-#define FILAMENT_CHANGE_FAST_LOAD_LENGTH     0  // (mm) Load length of filament, from extruder gear to nozzle.
-                                                //   For Bowden, the full length of the tube and nozzle.
-                                                //   For direct drive, the full length of the nozzle.
-//#define ADVANCED_PAUSE_CONTINUOUS_PURGE       // Purge continuously up to the purge length until interrupted.
-#define ADVANCED_PAUSE_PURGE_FEEDRATE        3  // (mm/s) Extrude feedrate (after loading). Should be slower than load feedrate.
-#define ADVANCED_PAUSE_PURGE_LENGTH         50  // (mm) Length to extrude after loading.
-                                                //   Set to 0 for manual extrusion.
-                                                //   Filament can be extruded repeatedly from the Filament Change menu
-                                                //   until extrusion is consistent, and to purge old filament.
-#define ADVANCED_PAUSE_RESUME_PRIME          0  // (mm) Extra distance to prime nozzle after returning from park.
-//#define ADVANCED_PAUSE_FANS_PAUSE             // Turn off print-cooling fans while the machine is paused.
-
-                                                // Filament Unload does a Retract, Delay, and Purge first:
-#define FILAMENT_UNLOAD_PURGE_RETRACT       13  // (mm) Unload initial retract length.
-#define FILAMENT_UNLOAD_PURGE_DELAY       5000  // (ms) Delay for the filament to cool after retract.
-#define FILAMENT_UNLOAD_PURGE_LENGTH         8  // (mm) An unretract is done, then this length is purged.
-#define FILAMENT_UNLOAD_PURGE_FEEDRATE      25  // (mm/s) feedrate to purge before unload
-
-#define PAUSE_PARK_NOZZLE_TIMEOUT           45  // (seconds) Time limit before the nozzle is turned off for safety.
-#define FILAMENT_CHANGE_ALERT_BEEPS         10  // Number of alert beeps to play when a response is needed.
-#define PAUSE_PARK_NO_STEPPER_TIMEOUT           // Enable for XYZ steppers to stay powered on during filament change.
-//#define FILAMENT_CHANGE_RESUME_ON_INSERT      // Automatically continue / load filament when runout sensor is triggered again.
-//#define PAUSE_REHEAT_FAST_RESUME              // Reduce number of waits by not prompting again post-timeout before continuing.
-
-//#define PARK_HEAD_ON_PAUSE                    // Park the nozzle during pause and filament change.
-//#define HOME_BEFORE_FILAMENT_CHANGE           // If needed, home before parking for filament change
-
-//#define FILAMENT_LOAD_UNLOAD_GCODES           // Add M701/M702 Load/Unload G-codes, plus Load/Unload in the LCD Prepare menu.
-//#define FILAMENT_UNLOAD_ALL_EXTRUDERS         // Allow M702 to unload all extruders above a minimum target temp (as set by M302)
-
+#define FILAMENT_CHANGE_UNLOAD_FEEDRATE         10.f  // (mm/s) Unload filament feedrate. This can be pretty fast.
+#define FILAMENT_UNLOAD_FAST_RETRACT_FEEDRATE   86.67f  // (mm/s) Unload fast retract feedrate.
+#define FILAMENT_UNLOAD_SLOW_RETRACT_FEEDRATE   16.67f  // (mm/s) Unload slow retract feedrate.
+#define FILAMENT_UNLOAD_FAST_RETRACT_LENGTH     45.f  // (mm) Unload fast retract length.
+#define FILAMENT_UNLOAD_SLOW_RETRACT_LENGTH     35.f  // (mm) Unload slow retract length.
 
 // Firmware based and LCD controlled retract
 // M207 and M208 can be used to define parameters for the retraction.

Firmware/Dcodes.cpp

@@ -3,6 +3,7 @@
 #include "Configuration.h"
 #include "language.h"
 #include "cmdqueue.h"
+#include "util.h"
 #include <stdio.h>
 #include <avr/pgmspace.h>
 
@@ -192,7 +193,7 @@ void dcode_3()
 
 #if 0
 extern float current_temperature_pinda;
-extern float axis_steps_per_unit[NUM_AXIS];
+extern float axis_steps_per_mm[NUM_AXIS];
 
 
 #define LOG(args...) printf(args)
@@ -478,7 +479,7 @@ void dcode_8()
 		{
 			uint16_t offs = 0;
 			if (i > 0) offs = eeprom_read_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + (i - 1));
-			float foffs = ((float)offs) / cs.axis_steps_per_unit[Z_AXIS];
+			float foffs = ((float)offs) / cs.axis_steps_per_mm[Z_AXIS];
 			offs = 1000 * foffs;
 			printf_P(PSTR("temp_pinda=%dC temp_shift=%dum\n"), 35 + i * 5, offs);
 		}
@@ -822,7 +823,7 @@ void dcode_2130()
 			}
 			else if (strcmp(strchr_pointer + 7, "wave") == 0)
 			{
-				tmc2130_get_wave(axis, 0, stdout);
+				tmc2130_get_wave(axis, 0);
 			}
 		}
 		else if (strchr_pointer[1+5] == '!')
@@ -843,9 +844,9 @@ void dcode_2130()
 					uint16_t res_new = tmc2130_mres2usteps(mres);
 					tmc2130_set_res(axis, res_new);
 					if (res_new > res)
-						cs.axis_steps_per_unit[axis] *= (res_new / res);
+						cs.axis_steps_per_mm[axis] *= (res_new / res);
 					else
-						cs.axis_steps_per_unit[axis] /= (res / res_new);
+						cs.axis_steps_per_mm[axis] /= (res / res_new);
 				}
 			}
 			else if (strncmp(strchr_pointer + 7, "wave", 4) == 0)

Firmware/Filament_sensor.cpp

@@ -5,7 +5,9 @@
 #include "Filament_sensor.h"
 #include "Timer.h"
 #include "eeprom.h"
+#include "language.h"
 #include "menu.h"
+#include "messages.h"
 #include "planner.h"
 #include "temperature.h"
 #include "ultralcd.h"
@@ -377,7 +379,7 @@ void PAT9125_sensor::init() {
 
     settings_init(); // also sets the state to State::initializing
 
-    calcChunkSteps(cs.axis_steps_per_unit[E_AXIS]); // for jam detection
+    calcChunkSteps(cs.axis_steps_per_mm[E_AXIS]); // for jam detection
 
     if (!pat9125_init()) {
         deinit();

Firmware/Marlin.h

@@ -279,7 +279,6 @@ extern uint32_t start_pause_print; // milliseconds
 extern ShortTimer usb_timer;
 extern bool processing_tcode;
 extern bool homing_flag;
-extern bool loading_flag;
 extern uint32_t total_filament_used; // mm/100 or 10um
 
 /// @brief Save print statistics to EEPROM
@@ -298,14 +297,18 @@ extern bool mesh_bed_leveling_flag;
 
 // save/restore printing
 extern bool saved_printing;
+extern uint32_t saved_sdpos;
 extern uint8_t saved_printing_type;
 #define PRINTING_TYPE_SD 0
 #define PRINTING_TYPE_USB 1
 #define PRINTING_TYPE_NONE 2
 
-extern float saved_extruder_temperature; //!< Active extruder temperature
-extern float saved_bed_temperature; //!< Bed temperature
+extern uint16_t saved_extruder_temperature; //!< Active extruder temperature
+extern uint8_t saved_bed_temperature; //!< Bed temperature
+extern bool saved_extruder_relative_mode;
 extern uint8_t saved_fan_speed; //!< Print fan speed, ranges from 0 to 255
+extern float saved_pos[NUM_AXIS];
+extern uint16_t saved_feedrate2;
 
 //estimated time to end of the print
 extern uint8_t print_percent_done_normal;
@@ -337,14 +340,20 @@ bool printer_active();
 bool check_fsensor();
 
 //! Condition where Babystepping is allowed:
-//! 1) Z-axis position is less than 2.0mm (only allowed during the first couple of layers)
-//! 2) Not allowed during Homing (printer busy)
-//! 3) Not allowed during Mesh Bed Leveling (printer busy)
+//! 1) Not allowed during Homing (printer busy)
+//! 2) Not allowed during Mesh Bed Leveling (printer busy)
+//! 3) Not allowed when a print job is paused
 //! 4) Allowed if:
-//!         - First Layer Calibration is running
-//!         - OR there are queued blocks, printJob is running and it's not paused, and Z-axis position is less than 2.0mm (only allowed during the first couple of layers)
+//!         - First Layer Calibration is running (the event when heaters are turned off is used to dismiss the menu)
+//!         - A print job is running
+//!         - If the printer is idle with not planned moves
 bool babystep_allowed();
 
+//! Same as babystep_allowed() but additionally adds a requirement
+//! where the Z-axis position must be less than 2.0mm (only allowed
+//! during the first couple of layers)
+bool babystep_allowed_strict();
+
 extern void calculate_extruder_multipliers();
 
 // Similar to the default Arduino delay function, 
@@ -375,27 +384,28 @@ float temp_compensation_pinda_thermistor_offset(float temperature_pinda);
 void serialecho_temperatures();
 bool check_commands();
 
-void uvlo_();
-void uvlo_tiny();
-void recover_print(uint8_t automatic); 
-void setup_uvlo_interrupt();
-
-#if defined(TACH_1) && TACH_1 >-1
-void setup_fan_interrupt();
-#endif
-
-extern bool recover_machine_state_after_power_panic();
-extern void restore_print_from_eeprom(bool mbl_was_active);
-
 extern void print_world_coordinates();
 extern void print_physical_coordinates();
 extern void print_mesh_bed_leveling_table();
 
+void save_print_file_state();
+void restore_print_file_state();
+void save_planner_global_state();
+void refresh_print_state_in_ram();
+void clear_print_state_in_ram();
 extern void stop_and_save_print_to_ram(float z_move, float e_move);
 void restore_extruder_temperature_from_ram();
 extern void restore_print_from_ram_and_continue(float e_move);
 extern void cancel_saved_printing();
 
+// Define some coordinates outside the clamp limits (making them invalid past the parsing stage) so
+// that they can be used later for various logical checks
+#define X_COORD_INVALID (X_MIN_POS-1)
+#define SAVED_START_POSITION_UNSET X_COORD_INVALID
+extern float saved_start_position[NUM_AXIS];
+extern uint16_t saved_segment_idx;
+extern bool isPartialBackupAvailable;
+
 
 //estimated time to end of the print
 extern uint8_t calc_percent_done();

Firmware/Prusa_farm.cpp

@@ -7,6 +7,7 @@
 #include "util.h"
 #include "ultralcd.h"
 #include "Filament_sensor.h"
+#include "language.h"
 
 #ifdef PRUSA_FARM
 uint8_t farm_mode = 0;
@@ -241,7 +242,7 @@ void prusa_statistics(uint8_t _message) {
         else if (isPrintPaused) {
             prusa_statistics_case0(14);
         }
-        else if (IS_SD_PRINTING || loading_flag) {
+        else if (IS_SD_PRINTING || (eFilamentAction != FilamentAction::None)) {
             prusa_statistics_case0(4);
         }
         else {
@@ -269,7 +270,7 @@ void prusa_statistics(uint8_t _message) {
         status_number = 3;
         farm_timer = 1;
 
-        if (IS_SD_PRINTING || loading_flag) {
+        if (IS_SD_PRINTING || (eFilamentAction != FilamentAction::None)) {
             SERIAL_ECHO('{');
             prusa_stat_printerstatus(4);
             prusa_stat_farm_number();
@@ -373,7 +374,7 @@ void prusa_statistics_update_from_status_screen() {
         switch (farm_timer) {
         case 8:
             prusa_statistics(21);
-            if(loading_flag)
+            if(eFilamentAction != FilamentAction::None)
                 prusa_statistics(22);
             break;
         case 5:

Firmware/SpoolJoin.h

@@ -1,7 +1,6 @@
 /// @file
 #pragma once
 #include <stdint.h>
-#include "eeprom.h"
 
 // See documentation here: https://help.prusa3d.com/article/spooljoin-mmu2s_134252
 

Firmware/backlight.cpp

@@ -1,12 +1,12 @@
 //backlight.cpp
-
-#include "backlight.h"
-#include "macros.h"
-#include <avr/eeprom.h>
 #include <Arduino.h>
+#include <avr/eeprom.h>
+#include "backlight.h"
 #include "eeprom.h"
-#include "pins.h"
 #include "fastio.h"
+#include "macros.h"
+#include "pins.h"
+#include "system_timer.h"
 #include "Timer.h"
 
 #ifdef LCD_BL_PIN

Firmware/backlight.h

@@ -3,8 +3,6 @@
 #define _BACKLIGHT_H
 
 #include <inttypes.h>
-#include "Marlin.h"
-#include "pins.h"
 
 enum Backlight_Mode
 {

Firmware/bootapp.c

@@ -6,19 +6,17 @@
 
 
 #include <stdio.h>
-extern FILE _uartout;
-#define uartout (&_uartout)
 
 extern void softReset();
 
 void bootapp_print_vars(void)
 {
-	fprintf_P(uartout, PSTR("boot_src_addr  =0x%08lx\n"), boot_src_addr);
-	fprintf_P(uartout, PSTR("boot_dst_addr  =0x%08lx\n"), boot_dst_addr);
-	fprintf_P(uartout, PSTR("boot_copy_size =0x%04x\n"), boot_copy_size);
-	fprintf_P(uartout, PSTR("boot_reserved  =0x%02x\n"), boot_reserved);
-	fprintf_P(uartout, PSTR("boot_app_flags =0x%02x\n"), boot_app_flags);
-	fprintf_P(uartout, PSTR("boot_app_magic =0x%08lx\n"), boot_app_magic);
+	printf_P(PSTR("boot_src_addr  =0x%08lx\n"), boot_src_addr);
+	printf_P(PSTR("boot_dst_addr  =0x%08lx\n"), boot_dst_addr);
+	printf_P(PSTR("boot_copy_size =0x%04x\n"), boot_copy_size);
+	printf_P(PSTR("boot_reserved  =0x%02x\n"), boot_reserved);
+	printf_P(PSTR("boot_app_flags =0x%02x\n"), boot_app_flags);
+	printf_P(PSTR("boot_app_magic =0x%08lx\n"), boot_app_magic);
 }
 
 

Firmware/cmdqueue.cpp

@@ -5,6 +5,8 @@
 #include "ultralcd.h"
 #include "Prusa_farm.h"
 #include "meatpack.h"
+#include "messages.h"
+#include "language.h"
 
 // Reserve BUFSIZE lines of length MAX_CMD_SIZE plus CMDBUFFER_RESERVE_FRONT.
 char cmdbuffer[BUFSIZE * (MAX_CMD_SIZE + 1) + CMDBUFFER_RESERVE_FRONT];

Firmware/cmdqueue.h

@@ -2,8 +2,6 @@
 #define CMDQUEUE_H
 
 #include "Marlin.h"
-#include "language.h"
-
 
 // String circular buffer. Commands may be pushed to the buffer from both sides:
 // Chained commands will be pushed to the front, interactive (from LCD menu) 

Firmware/eeprom.cpp

@@ -8,9 +8,6 @@
 #include <avr/eeprom.h>
 #include <stdint.h>
 
-
-#include "language.h"
-
 void eeprom_init()
 {
     eeprom_init_default_byte((uint8_t*)EEPROM_POWER_COUNT, 0);

Firmware/eeprom.h

@@ -92,7 +92,7 @@ static_assert(sizeof(Sheets) == EEPROM_SHEETS_SIZEOF, "Sizeof(Sheets) is not EEP
 | 0x0FF7 4087 | uint8   | EEPROM_CALIBRATION_STATUS_V1          | ffh 255      | ffh 255               | Calibration status (<v3.12)                       | ???          | D3 Ax0ff7 C1
 | ^           | ^       | ^                                     | 01h 1        | ^                     | Calibrated                                        | ^            | ^
 | ^           | ^       | ^                                     | e6h 230      | ^                     | needs Live Z adjustment                           | ^            | ^
-| ^           | ^       | ^                                     | ebh 235      | ^                     | needs Temp Model calibration                      | ^            | ^
+| ^           | ^       | ^                                     | ebh 235      | ^                     | needs Thermal Model calibration                   | ^            | ^
 | ^           | ^       | ^                                     | f0h 240      | ^               __P__ | needs Z calibration                               | ^            | ^
 | ^           | ^       | ^                                     | fah 250      | ^                     | needs XYZ calibration                             | ^            | ^
 | ^           | ^       | ^                                     | 00h 0        | ^                     | Unknown (legacy)                                  | ^            | ^
@@ -201,8 +201,10 @@ static_assert(sizeof(Sheets) == EEPROM_SHEETS_SIZEOF, "Sizeof(Sheets) is not EEP
 | ^           | ^       | ^                                     | 1c 4fh 20252 | ^                     | PRINTER_MK2.5S with MMU2S                         | ???          | ^
 | ^           | ^       | ^                                     | 2c 01h 300   | ^                     | PRINTER_MK3                                       | ???          | ^
 | ^           | ^       | ^                                     | 4c 4fh 20300 | ^                     | PRINTER_MK3 with MMU2                             | ???          | ^
+| ^           | ^       | ^                                     | 5c 76h 30300 | ^                     | PRINTER_MK3 with MMU3                             | ???          | ^
 | ^           | ^       | ^                                     | 2e 01h 302   | ^                     | PRINTER_MK3S                                      | ???          | ^
 | ^           | ^       | ^                                     | 4e 4fh 20302 | ^                     | PRINTER_MK3S with MMU2S                           | ???          | ^
+| ^           | ^       | ^                                     | 5e 76h 30302 | ^                     | PRINTER_MK3S with MMU3                            | ???          | ^
 | 0x0EEC 3820 | uint16  | EEPROM_BOARD_TYPE                     | ???          | ff ffh 65535          | Board Type                                        | ???          | D3 Ax0eec C2
 | ^           | ^       | ^                                     | c8 00h 200   | ^                     | BOARD_RAMBO_MINI_1_0                              | ???          | ^
 | ^           | ^       | ^                                     | cb 00h 203   | ^                     | BOARD_RAMBO_MINI_1_3                              | ???          | ^
@@ -324,7 +326,7 @@ static_assert(sizeof(Sheets) == EEPROM_SHEETS_SIZEOF, "Sizeof(Sheets) is not EEP
 | 0x0D11 3345 | float   | EEPROM_UVLO_ACCELL                    | ???          | ff ff ff ffh          | Power panic saved normal acceleration             | ???          | D3 Ax0d11 C4
 | 0x0D0D 3341 | float   | EEPROM_UVLO_RETRACT_ACCELL            | ???          | ff ff ff ffh          | Power panic saved retract acceleration            | ???          | D3 Ax0d0d C4
 | 0x0D09 3337 | float   | EEPROM_UVLO_TRAVEL_ACCELL             | ???          | ff ff ff ffh          | Power panic saved travel acceleration             | ???          | D3 Ax0d09 C4
-| 0x0D05 3333 | unint32 | EEPROM_JOB_ID                         | ???          | 00 00 00 00h            | Job ID used by host software                    | D3 only      | D3 Ax0d05 C4
+| 0x0D05 3333 | unint32 | EEPROM_JOB_ID                         | ???          | 00 00 00 00h          | Job ID used by host software                      | D3 only      | D3 Ax0d05 C4
 | 0x0D04 3332 | uint8   | EEPROM_ECOOL_ENABLE                   | ffh 255      | ^                     | Disable extruder motor scaling for non-farm print | LCD menu     | D3 Ax0d04 C1
 | ^           | ^       | ^                                     | 2ah 42       | ^                     | Enable extruder motor scaling for non-farm print  | ^            | D3 Ax0d04 C1
 | 0x0D03 3331 | uint8   | EEPROM_FW_CRASH_FLAG                  | ffh 255      | ffh 255               | Last FW crash reason (dump_crash_reason)          | D21/D22      | D3 Ax0d03 C1
@@ -334,14 +336,14 @@ static_assert(sizeof(Sheets) == EEPROM_SHEETS_SIZEOF, "Sizeof(Sheets) is not EEP
 | ^           | ^       | ^                                     | 03h 3        | ^                     | bad_isr                                           | ^            | ^
 | ^           | ^       | ^                                     | 04h 4        | ^                     | bad_pullup_temp_isr                               | ^            | ^
 | ^           | ^       | ^                                     | 05h 5        | ^                     | bad_pullup_step_isr                               | ^            | ^
-| 0x0D02 3330 | uint8   | EEPROM_TEMP_MODEL_ENABLE              | 00h 0        | ff/00                 | Temp model deactivated                            | Temp model   | D3 Ax0d02 C1
-| ^           | ^       | ^                                     | 01h 1        | ^                     | Temp model activated                              | ^            | ^
-| 0x0CFE 3326 | float   | EEPROM_TEMP_MODEL_P                   | ???          | ff ff ff ffh          | Temp model power (W)                              | Temp model   | D3 Ax0cfe C4
-| 0x0CFA 3322 | float   | EEPROM_TEMP_MODEL_C                   | ???          | ff ff ff ffh          | Temp model capacitance (J/K)                      | Temp model   | D3 Ax0cfa C4
-| 0x0CBA 3258 |float[16]| EEPROM_TEMP_MODEL_R                   | ???          | ff ff ff ffh          | Temp model resistance (K/W)                       | Temp model   | D3 Ax0cba C64
-| 0x0CB6 3254 | float   | EEPROM_TEMP_MODEL_Ta_corr             | ???          | ff ff ff ffh          | Temp model ambient temperature correction (K)     | Temp model   | D3 Ax0cb6 C4
-| 0x0CB2 3250 | float   | EEPROM_TEMP_MODEL_W                   | ???          | ff ff ff ffh          | Temp model warning threshold (K/s)                | Temp model   | D3 Ax0cb2 C4
-| 0x0CAE 3246 | float   | EEPROM_TEMP_MODEL_E                   | ???          | ff ff ff ffh          | Temp model error threshold (K/s)                  | Temp model   | D3 Ax0cae C4
+| 0x0D02 3330 | uint8   | EEPROM_THERMAL_MODEL_ENABLE           | 00h 0        | ff/00                 | Thermal Model deactivated                         | Thermal Model| D3 Ax0d02 C1
+| ^           | ^       | ^                                     | 01h 1        | ^                     | Thermal Model activated                           | ^            | ^
+| 0x0CFE 3326 | float   | EEPROM_THERMAL_MODEL_P                | ???          | ff ff ff ffh          | Thermal Model power (W)                           | Thermal Model| D3 Ax0cfe C4
+| 0x0CFA 3322 | float   | EEPROM_THERMAL_MODEL_C                | ???          | ff ff ff ffh          | Thermal Model capacitance (J/K)                   | Thermal Model| D3 Ax0cfa C4
+| 0x0CBA 3258 |float[16]| EEPROM_THERMAL_MODEL_R                | ???          | ff ff ff ffh          | Thermal Model resistance (K/W)                    | Thermal Model| D3 Ax0cba C64
+| 0x0CB6 3254 | float   | EEPROM_THERMAL_MODEL_Ta_corr          | ???          | ff ff ff ffh          | Thermal Model ambient temperature correction (K)  | Thermal Model| D3 Ax0cb6 C4
+| 0x0CB2 3250 | float   | EEPROM_THERMAL_MODEL_W                | ???          | ff ff ff ffh          | Thermal Model warning threshold (K/s)             | Thermal Model| D3 Ax0cb2 C4
+| 0x0CAE 3246 | float   | EEPROM_THERMAL_MODEL_E                | ???          | ff ff ff ffh          | Thermal Model error threshold (K/s)               | Thermal Model| D3 Ax0cae C4
 | 0x0CAD 3245 | uint8   | EEPROM_FSENSOR_JAM_DETECTION          | 01h 1        | ff/01                 | fsensor pat9125 jam detection feature             | LCD menu     | D3 Ax0cad C1
 | 0x0CAC 3244 | uint8   | EEPROM_MMU_ENABLED                    | 00h 0        | ff/00                 | MMU enabled                                       | LCD menu     | D3 Ax0cac C1
 | 0x0CA8 3240 | uint32  | EEPROM_MMU_MATERIAL_CHANGES           | ???          | ff ff ff ffh          | MMU toolchange counter over printers lifetime     | LCD statistic| D3 Ax0ca8 C4
@@ -352,16 +354,16 @@ static_assert(sizeof(Sheets) == EEPROM_SHEETS_SIZEOF, "Sizeof(Sheets) is not EEP
 | ^           | ^       | ^                                     | 01h 1        | ^                     | Selftest passed                                   | ^            | ^
 | ^           | ^       | ^                                     | 02h 2        | ^                     | XYZ cal passed                                    | ^            | ^
 | ^           | ^       | ^                                     | 04h 4        | ^                     | Z cal passed                                      | ^            | ^
-| ^           | ^       | ^                                     | 08h 8        | ^                     | Temp model cal passed                             | ^            | ^
+| ^           | ^       | ^                                     | 08h 8        | ^                     | Thermal Model cal passed                          | ^            | ^
 | ^           | ^       | ^                                     | 10h 16       | ^                     | Live Adjust set                                   | ^            | ^
 | ^           | ^       | ^                                     | 20h 32       | ^                     | Free bit                                          | ^            | ^
 | ^           | ^       | ^                                     | 40h 64       | ^                     | Free bit                                          | ^            | ^
 | ^           | ^       | ^                                     | 80h 128      | ^                     | Unknown                                           | ^            | ^
-| 0x0CA2 3234 | float   | EEPROM_TEMP_MODEL_U                   | ???          | ff ff ff ffh          | Temp model linear temperature coefficient (W/K/W) | Temp model   | D3 Ax0ca2 C4
-| 0x0C9E 3230 | float   | EEPROM_TEMP_MODEL_V                   | ???          | ff ff ff ffh          | Temp model linear temperature intercept (W/W)     | Temp model   | D3 Ax0c9e C4
-| 0x0C9A 3226 | float   | EEPROM_TEMP_MODEL_D                   | ???          | ff ff ff ffh          | Temp model sim. 1st order IIR filter factor       | Temp model   | D3 Ax0c9a C4
-| 0x0C98 3224 | uint16  | EEPROM_TEMP_MODEL_L                   | 0-2160       | ff ffh                | Temp model sim. response lag (ms)                 | Temp model   | D3 Ax0c98 C2
-| 0x0C97 3223 | uint8   | EEPROM_TEMP_MODEL_VER                 | 0-255        | ffh                   | Temp model Version                                | Temp model   | D3 Ax0c97 C1
+| 0x0CA2 3234 | float   | EEPROM_THERMAL_MODEL_U                | ???          | ff ff ff ffh          | Thermal Model linear temp coefficient (W/K/W)     | Thermal Model| D3 Ax0ca2 C4
+| 0x0C9E 3230 | float   | EEPROM_THERMAL_MODEL_V                | ???          | ff ff ff ffh          | Thermal Model linear temp intercept (W/W)         | Thermal Model| D3 Ax0c9e C4
+| 0x0C9A 3226 | float   | EEPROM_THERMAL_MODEL_D                | ???          | ff ff ff ffh          | Thermal Model sim. 1st order IIR filter factor    | Thermal Model| D3 Ax0c9a C4
+| 0x0C98 3224 | uint16  | EEPROM_THERMAL_MODEL_L                | 0-2160       | ff ffh                | Thermal Model sim. response lag (ms)              | Thermal Model| D3 Ax0c98 C2
+| 0x0C97 3223 | uint8   | EEPROM_THERMAL_MODEL_VER              | 0-255        | ffh                   | Thermal Model Version                             | Thermal Model| D3 Ax0c97 C1
 | 0x0C95 3221 | PGM_P   | EEPROM_KILL_MESSAGE                   | 0-65535      | ff ffh                | Kill message PGM pointer                          | kill()       | D3 Ax0c95 C2
 | 0x0C94 3220 | uint8   | EEPROM_KILL_PENDING_FLAG              | 42h, ffh     | ffh                   | Kill pending flag (0x42 magic value)              | kill()       | D3 Ax0c94 C1
 
@@ -428,7 +430,7 @@ static_assert(sizeof(Sheets) == EEPROM_SHEETS_SIZEOF, "Sizeof(Sheets) is not EEP
 #define EEPROM_UVLO_FAN_SPEED			(EEPROM_UVLO_FEEDRATE - 1)
 #define EEPROM_FAN_CHECK_ENABLED		(EEPROM_UVLO_FAN_SPEED - 1)
 #define EEPROM_UVLO_MESH_BED_LEVELING     (EEPROM_FAN_CHECK_ENABLED - 9*2)
-#define EEPROM_UVLO_Z_MICROSTEPS     (EEPROM_UVLO_MESH_BED_LEVELING - 2) // uint16_t (could be removed)
+#define EEPROM_UVLO_Z_MICROSTEPS     (EEPROM_UVLO_MESH_BED_LEVELING - 2) // uint16_t (unused)
 #define EEPROM_UVLO_E_ABS            (EEPROM_UVLO_Z_MICROSTEPS - 1)
 #define EEPROM_UVLO_CURRENT_POSITION_E	(EEPROM_UVLO_E_ABS - 4)                 //float for current position in E
 #define EEPROM_UVLO_SAVED_SEGMENT_IDX   (EEPROM_UVLO_CURRENT_POSITION_E - 2) //uint16_t
@@ -579,27 +581,27 @@ static Sheets * const EEPROM_Sheets_base = (Sheets*)(EEPROM_SHEETS_BASE);
 #define EEPROM_ECOOL_ENABLE (EEPROM_JOB_ID-1) // uint8_t
 #define EEPROM_FW_CRASH_FLAG (EEPROM_ECOOL_ENABLE-1) // uint8_t
 
-#define EEPROM_TEMP_MODEL_ENABLE (EEPROM_FW_CRASH_FLAG-1) // uint8_t
-#define EEPROM_TEMP_MODEL_P (EEPROM_TEMP_MODEL_ENABLE-4) // float
-#define EEPROM_TEMP_MODEL_C (EEPROM_TEMP_MODEL_P-4) // float
-#define EEPROM_TEMP_MODEL_R (EEPROM_TEMP_MODEL_C-4*16) // float[16]
-#define EEPROM_TEMP_MODEL_Ta_corr (EEPROM_TEMP_MODEL_R-4) // float
-#define EEPROM_TEMP_MODEL_W (EEPROM_TEMP_MODEL_Ta_corr-4) // float
-#define EEPROM_TEMP_MODEL_E (EEPROM_TEMP_MODEL_W-4) // float
+#define EEPROM_THERMAL_MODEL_ENABLE (EEPROM_FW_CRASH_FLAG-1) // uint8_t
+#define EEPROM_THERMAL_MODEL_P (EEPROM_THERMAL_MODEL_ENABLE-4) // float
+#define EEPROM_THERMAL_MODEL_C (EEPROM_THERMAL_MODEL_P-4) // float
+#define EEPROM_THERMAL_MODEL_R (EEPROM_THERMAL_MODEL_C-4*16) // float[16]
+#define EEPROM_THERMAL_MODEL_Ta_corr (EEPROM_THERMAL_MODEL_R-4) // float
+#define EEPROM_THERMAL_MODEL_W (EEPROM_THERMAL_MODEL_Ta_corr-4) // float
+#define EEPROM_THERMAL_MODEL_E (EEPROM_THERMAL_MODEL_W-4) // float
 
-#define EEPROM_FSENSOR_JAM_DETECTION (EEPROM_TEMP_MODEL_E-1) // uint8_t
+#define EEPROM_FSENSOR_JAM_DETECTION (EEPROM_THERMAL_MODEL_E-1) // uint8_t
 #define EEPROM_MMU_ENABLED (EEPROM_FSENSOR_JAM_DETECTION-1) // uint8_t
 #define EEPROM_MMU_MATERIAL_CHANGES (EEPROM_MMU_ENABLED-4) // uint32_t
 #define EEPROM_HEAT_BED_ON_LOAD_FILAMENT (EEPROM_MMU_MATERIAL_CHANGES-1) //uint8
 #define EEPROM_CALIBRATION_STATUS_V2 (EEPROM_HEAT_BED_ON_LOAD_FILAMENT-1) //uint8
 
-#define EEPROM_TEMP_MODEL_U (EEPROM_CALIBRATION_STATUS_V2-4) //float
-#define EEPROM_TEMP_MODEL_V (EEPROM_TEMP_MODEL_U-4) //float
-#define EEPROM_TEMP_MODEL_D (EEPROM_TEMP_MODEL_V-4) //float
-#define EEPROM_TEMP_MODEL_L (EEPROM_TEMP_MODEL_D-2) //uint16_t
-#define EEPROM_TEMP_MODEL_VER (EEPROM_TEMP_MODEL_L-1) //uint8_t
+#define EEPROM_THERMAL_MODEL_U (EEPROM_CALIBRATION_STATUS_V2-4) //float
+#define EEPROM_THERMAL_MODEL_V (EEPROM_THERMAL_MODEL_U-4) //float
+#define EEPROM_THERMAL_MODEL_D (EEPROM_THERMAL_MODEL_V-4) //float
+#define EEPROM_THERMAL_MODEL_L (EEPROM_THERMAL_MODEL_D-2) //uint16_t
+#define EEPROM_THERMAL_MODEL_VER (EEPROM_THERMAL_MODEL_L-1) //uint8_t
 
-#define EEPROM_KILL_MESSAGE (EEPROM_TEMP_MODEL_VER-2) //PGM_P
+#define EEPROM_KILL_MESSAGE (EEPROM_THERMAL_MODEL_VER-2) //PGM_P
 #define EEPROM_KILL_PENDING_FLAG (EEPROM_KILL_MESSAGE-1) //uint8
 
 //This is supposed to point to last item to allow EEPROM overrun check. Please update when adding new items.

Firmware/fancheck.cpp

@@ -9,10 +9,17 @@
 #define FAN_CHECK_PERIOD 5000 //5s
 #define FAN_CHECK_DURATION 100 //100ms
 
+//Macro for print fan speed
+#define FAN_PULSE_WIDTH_LIMIT ((fanSpeed > 100) ? 3 : 4) //time in ms
+
 #ifdef FANCHECK
 volatile uint8_t fan_check_error = EFCE_OK;
 #endif
 
+#if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
+static uint32_t t_fan_rising_edge;
+#endif // #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
+
 #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1)
   #ifdef EXTRUDER_ALTFAN_DETECT
   static struct
@@ -154,6 +161,42 @@ void checkFanSpeed()
 }
 #endif //(defined(TACH_0) && TACH_0 >-1) || (defined(TACH_1) && TACH_1 > -1)
 
+#if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
+void setup_fan_interrupt() {
+//INT7
+	DDRE &= ~(1 << 7); //input pin
+	PORTE &= ~(1 << 7); //no internal pull-up
+
+	//start with sensing rising edge
+	EICRB &= ~(1 << 6);
+	EICRB |= (1 << 7);
+
+	//enable INT7 interrupt
+	EIMSK |= (1 << 7);
+}
+
+// The fan interrupt is triggered at maximum 325Hz (may be a bit more due to component tollerances),
+// and it takes 4.24 us to process (the interrupt invocation overhead not taken into account).
+ISR(INT7_vect) {
+	//measuring speed now works for fanSpeed > 18 (approximately), which is sufficient because MIN_PRINT_FAN_SPEED is higher
+#ifdef FAN_SOFT_PWM
+	if (!fan_measuring || (fanSpeedSoftPwm < MIN_PRINT_FAN_SPEED)) return;
+#else //FAN_SOFT_PWM
+	if (fanSpeed < MIN_PRINT_FAN_SPEED) return;
+#endif //FAN_SOFT_PWM
+
+	if ((1 << 6) & EICRB) { //interrupt was triggered by rising edge
+		t_fan_rising_edge = millis_nc();
+	}
+	else { //interrupt was triggered by falling edge
+		if ((millis_nc() - t_fan_rising_edge) >= FAN_PULSE_WIDTH_LIMIT) {//this pulse was from sensor and not from pwm
+			fan_edge_counter[1] += 2; //we are currently counting all edges so lets count two edges for one pulse
+		}
+	}	
+	EICRB ^= (1 << 6); //change edge
+}
+#endif //(defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
+
 #ifdef EXTRUDER_ALTFAN_DETECT
 ISR(INT6_vect) {
     fan_edge_counter[0]++;

Firmware/fancheck.h

@@ -15,6 +15,10 @@ extern volatile uint8_t fan_check_error;
 void readFanTach();
 #endif //(defined(TACH_0))
 
+#if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
+void setup_fan_interrupt();
+#endif // (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
+
 #ifdef EXTRUDER_ALTFAN_DETECT
 extern bool extruder_altfan_detect();
 extern void altfanOverride_toggle();

Firmware/first_lay_cal.cpp

@@ -5,8 +5,8 @@
 
 #include "first_lay_cal.h"
 #include "Configuration_var.h"
-#include "language.h"
 #include "Marlin.h"
+#include "messages.h"
 #include "cmdqueue.h"
 #include "mmu2.h"
 #include <avr/pgmspace.h>

Firmware/la10compat.cpp

@@ -74,7 +74,7 @@ float la10c_jerk(float j)
 
     // check for a compatible range of values prior to convert (be sure that
     // a higher E-jerk would still be compatible wrt the E accell range)
-    if(j < 4.5 && cs.max_acceleration_units_per_sq_second_normal[E_AXIS] < 2000)
+    if(j < 4.5 && cs.max_acceleration_mm_per_s2_normal[E_AXIS] < 2000)
         return j;
 
     // bring low E-jerk values into equivalent LA 1.5 values by

Firmware/language.c

@@ -276,7 +276,7 @@ const char* lang_get_sec_lang_str_by_id(uint16_t id)
 	return ui + pgm_read_word(((uint16_t*)(ui + 16 + id * 2))); //read relative offset and return calculated pointer
 }
 
-uint16_t lang_print_sec_lang(FILE* out)
+uint16_t lang_print_sec_lang()
 {
 	printf_P(_n("&_SEC_LANG        = 0x%04x\n"), &_SEC_LANG);
 	printf_P(_n("sizeof(_SEC_LANG) = 0x%04x\n"), sizeof(_SEC_LANG));
@@ -298,7 +298,7 @@ uint16_t lang_print_sec_lang(FILE* out)
 	puts_P(_n(" strings:\n"));
 	uint16_t ui = _SEC_LANG_TABLE; //table pointer
 	for (ui = 0; ui < _lt_count; ui++)
-		fprintf_P(out, _n("  %3d %S\n"), ui, lang_get_sec_lang_str_by_id(ui));
+		printf_P(_n("  %3d %S\n"), ui, lang_get_sec_lang_str_by_id(ui));
 	return _lt_count;
 }
 #endif //DEBUG_SEC_LANG

Firmware/language.h

@@ -171,7 +171,7 @@ extern uint8_t lang_is_selected(void);
 
 #ifdef DEBUG_SEC_LANG
 extern const char* lang_get_sec_lang_str_by_id(uint16_t id);
-extern uint16_t lang_print_sec_lang(FILE* out);
+extern uint16_t lang_print_sec_lang();
 #endif //DEBUG_SEC_LANG
 
 extern void lang_boot_update_start(uint8_t lang);

Firmware/lcd.cpp

@@ -129,18 +129,17 @@ static void lcd_send(uint8_t data, uint8_t flags, uint16_t duration = LCD_DEFAUL
 	_delay_us(5);
 	lcd_writebits(data);
 #ifndef LCD_8BIT
-	if (!(flags & LCD_HALF_FLAG))
-	{
-		_delay_us(LCD_DEFAULT_DELAY);
-		lcd_writebits(data<<4);
+	if (!(flags & LCD_HALF_FLAG)) {
+		// _delay_us(LCD_DEFAULT_DELAY); // should not be needed when sending a two nibble instruction.
+		lcd_writebits((data << 4) | (data >> 4)); //force efficient swap opcode even though the lower nibble is ignored in this case
 	}
 #endif
 	delayMicroseconds(duration);
 }
 
-static void lcd_command(uint8_t value, uint16_t delayExtra = 0)
+static void lcd_command(uint8_t value, uint16_t duration = LCD_DEFAULT_DELAY)
 {
-	lcd_send(value, LOW, LCD_DEFAULT_DELAY + delayExtra);
+	lcd_send(value, LOW, duration);
 }
 
 static void lcd_write(uint8_t value)

Firmware/menu.cpp

@@ -90,7 +90,6 @@ void menu_end(void)
 	if (((uint8_t)lcd_encoder) >= menu_top + LCD_HEIGHT)
 	{
 		menu_top = lcd_encoder - LCD_HEIGHT + 1;
-		lcd_draw_update = 1;
 		menu_line = menu_top - 1;
 		menu_row = -1;
 	}
@@ -411,36 +410,26 @@ void menu_item_gcode_P(const char* str, const char* str_gcode)
 	menu_item++;
 }
 
-const char menu_fmt_int3[] PROGMEM = "%c%.15S:%s%3d";
-
 const char menu_fmt_float31[] PROGMEM = "%-12.12S%+8.1f";
-
 const char menu_fmt_float13[] PROGMEM = "%c%-13.13S%+5.3f";
 
-
-
-template <typename T>
-void menu_draw_P(char chr, const char* str, T val)
+/// @brief Draw the label and value for a menu edit item
+/// @param chr 1 byte character
+/// @param str String residing in program memory (PROGMEM)
+/// @param val value to render, ranges from -999 to 9999
+static void menu_draw_P(const char chr, const char* str, const int16_t val)
 {
-	// The LCD row position is controlled externally. We may only modify the column here
 	lcd_putc(chr);
-	uint8_t len = lcd_print_pad_P(str, LCD_WIDTH - 1);
-	lcd_set_cursor_column((LCD_WIDTH - 1) - len + 1);
+	lcd_puts_P(str);
 	lcd_putc(':');
 
-	// The value is right adjusted, set the cursor then render the value
-	if (val < 10) { // 1 digit
-		lcd_set_cursor_column(LCD_WIDTH - 1);
-	} else if (val < 100) { // 2 digits
-		lcd_set_cursor_column(LCD_WIDTH - 2);
-	} else { // 3 digits
-		lcd_set_cursor_column(LCD_WIDTH - 3);
-	}
-	lcd_print(val, DEC);
-}
+	// Padding to compensate variable string length
+	const uint8_t len = strlen_P(str);
+	lcd_space((LCD_WIDTH - 4) - (2 + len));
 
-template void menu_draw_P<int16_t>(char chr, const char* str, int16_t val);
-template void menu_draw_P<uint8_t>(char chr, const char* str, uint8_t val);
+	// Right adjusted value
+	lcd_printf_P(PSTR("%4d"), val);
+}
 
 //! @brief Draw up to 10 chars of text and a float number in format from +0.0 to +12345.0. The increased range is necessary
 //! for displaying large values of extruder positions, which caused text overflow in the previous implementation.

Firmware/menu.h

@@ -33,12 +33,12 @@ extern uint8_t menu_depth;
 //! definition of reasons blocking the main menu
 //! Use them as bit mask, so that the code may set various errors at the same time
 enum ESeriousErrors {
-	MENU_BLOCK_NONE                = 0,
-	MENU_BLOCK_THERMAL_ERROR       = 0x01,
-#ifdef TEMP_MODEL
-	MENU_BLOCK_TEMP_MODEL_AUTOTUNE = 0x02,
+	MENU_BLOCK_NONE                   = 0,
+	MENU_BLOCK_THERMAL_ERROR          = 0x01,
+#ifdef THERMAL_MODEL
+	MENU_BLOCK_THERMAL_MODEL_AUTOTUNE = 0x02,
 #endif
-    MENU_BLOCK_STATUS_SCREEN_M0    = 0x04,
+    MENU_BLOCK_STATUS_SCREEN_M0       = 0x04,
 }; // and possibly others in the future.
 
 //! this is a flag for disabling entering the main menu and longpress. If this is set to anything !=
@@ -149,9 +149,6 @@ extern void menu_format_sheet_E(const Sheet &sheet_E, SheetFormatBuffer &buffer)
 template <typename T>
 extern void menu_item_edit_P(const char* str, T pval, int16_t min_val, int16_t max_val);
 
-template <typename T>
-extern void menu_draw_P(char chr, const char* str, T val);
-
 extern void menu_progressbar_init(uint16_t total, const char* title);
 extern void menu_progressbar_update(uint16_t newVal);
 extern void menu_progressbar_finish(void);

Firmware/mesh_bed_calibration.cpp

@@ -3060,7 +3060,7 @@ void babystep_load()
         SERIAL_ECHO(", current Z: ");
         SERIAL_ECHO(current_position[Z_AXIS]);
         SERIAL_ECHO("correction: ");
-        SERIAL_ECHO(float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS]));
+        SERIAL_ECHO(float(babystepLoadZ) / float(axis_steps_per_mm[Z_AXIS]));
         SERIAL_ECHOLN("");
     #endif
     }
@@ -3069,12 +3069,12 @@ void babystep_load()
 void babystep_apply()
 {
     babystep_load();
-    shift_z(- float(babystepLoadZ) / float(cs.axis_steps_per_unit[Z_AXIS]));
+    shift_z(- float(babystepLoadZ) / float(cs.axis_steps_per_mm[Z_AXIS]));
 }
 
 void babystep_undo()
 {
-      shift_z(float(babystepLoadZ) / float(cs.axis_steps_per_unit[Z_AXIS]));
+      shift_z(float(babystepLoadZ) / float(cs.axis_steps_per_mm[Z_AXIS]));
       babystepLoadZ = 0;
 }
 

Firmware/messages.cpp

@@ -52,12 +52,13 @@ const char MSG_ITERATION[] PROGMEM_I1 = ISTR("Iteration"); ////MSG_ITERATION c=1
 const char MSG_SELECT_FILAMENT[] PROGMEM_I1 = ISTR("Select filament:"); ////MSG_SELECT_FILAMENT c=20
 const char MSG_LAST_PRINT[] PROGMEM_I1 = ISTR("Last print"); ////MSG_LAST_PRINT c=18
 const char MSG_LAST_PRINT_FAILURES[] PROGMEM_I1 = ISTR("Last print failures"); ////MSG_LAST_PRINT_FAILURES c=20
-const char MSG_LOAD_FILAMENT[] PROGMEM_I1 = ISTR("Load filament"); ////MSG_LOAD_FILAMENT c=17
+const char MSG_PRELOAD_TO_MMU[] PROGMEM_I1 = ISTR("Preload to MMU"); ////MSG_PRELOAD_TO_MMU c=17
+const char MSG_LOAD_FILAMENT[] PROGMEM_I1 = ISTR("Load filament"); ////MSG_LOAD_FILAMENT c=16
 const char MSG_LOADING_TEST[] PROGMEM_I1 = ISTR("Loading Test"); ////MSG_LOADING_TEST c=18
 const char MSG_LOADING_FILAMENT[] PROGMEM_I1 = ISTR("Loading filament"); ////MSG_LOADING_FILAMENT c=20
 const char MSG_TESTING_FILAMENT[] PROGMEM_I1 = ISTR("Testing filament"); ////MSG_TESTING_FILAMENT c=20
 const char MSG_EJECT_FROM_MMU[] PROGMEM_I1 = ISTR("Eject from MMU"); ////MSG_EJECT_FROM_MMU c=16
-const char MSG_CUT_FILAMENT[] PROGMEM_I1 = ISTR("Cut filament"); ////MSG_CUT_FILAMENT c=17
+const char MSG_CUT_FILAMENT[] PROGMEM_I1 = ISTR("Cut filament"); ////MSG_CUT_FILAMENT c=16
 const char MSG_MAIN[] PROGMEM_I1 = ISTR("Main"); ////MSG_MAIN c=18
 const char MSG_BACK[] PROGMEM_I1 = ISTR("Back"); ////MSG_BACK c=18
 const char MSG_SHEET[] PROGMEM_I1 = ISTR("Sheet"); ////MSG_SHEET c=10
@@ -172,7 +173,7 @@ const char MSG_IR_03_OR_OLDER[] PROGMEM_I1 = ISTR(" 0.3 or older");////MSG_IR_03
 const char MSG_IR_UNKNOWN[] PROGMEM_I1 = ISTR("unknown state");////MSG_IR_UNKNOWN c=18
 #endif
 extern const char MSG_PAUSED_THERMAL_ERROR[] PROGMEM_I1 = ISTR("PAUSED THERMAL ERROR");////MSG_PAUSED_THERMAL_ERROR c=20
-#ifdef TEMP_MODEL
+#ifdef THERMAL_MODEL
 extern const char MSG_THERMAL_ANOMALY[] PROGMEM_I1 = ISTR("THERMAL ANOMALY");////MSG_THERMAL_ANOMALY c=20
 extern const char MSG_TM_NOT_CAL[] PROGMEM_I1 = ISTR("Thermal model not calibrated yet.");////MSG_TM_NOT_CAL c=20 r=4
 extern const char MSG_TM_ACK_ERROR[] PROGMEM_I1 = ISTR("Clear TM error");////MSG_TM_ACK_ERROR c=18

Firmware/messages.h

@@ -58,6 +58,7 @@ extern const char MSG_ITERATION[];
 extern const char MSG_SELECT_FILAMENT[];
 extern const char MSG_LAST_PRINT[];
 extern const char MSG_LAST_PRINT_FAILURES[];
+extern const char MSG_PRELOAD_TO_MMU[];
 extern const char MSG_LOAD_FILAMENT[];
 extern const char MSG_LOADING_TEST[];
 extern const char MSG_LOADING_FILAMENT[];
@@ -176,7 +177,7 @@ extern const char MSG_IR_03_OR_OLDER[];
 extern const char MSG_IR_UNKNOWN[];
 #endif
 extern const char MSG_PAUSED_THERMAL_ERROR[];
-#ifdef TEMP_MODEL
+#ifdef THERMAL_MODEL
 extern const char MSG_THERMAL_ANOMALY[];
 extern const char MSG_TM_NOT_CAL[];
 extern const char MSG_TM_ACK_ERROR[];

Firmware/mmu2.cpp

@@ -38,8 +38,7 @@ void WaitForHotendTargetTempBeep() {
 MMU2 mmu2;
 
 MMU2::MMU2()
-    : is_mmu_error_monitor_active(false)
-    , logic(&mmu2Serial, MMU2_TOOL_CHANGE_LOAD_LENGTH, MMU2_LOAD_TO_NOZZLE_FEED_RATE)
+    : logic(&mmu2Serial, MMU2_TOOL_CHANGE_LOAD_LENGTH, MMU2_LOAD_TO_NOZZLE_FEED_RATE)
     , extruder(MMU2_NO_TOOL)
     , tool_change_extruder(MMU2_NO_TOOL)
     , resume_position()
@@ -142,9 +141,16 @@ bool MMU2::WriteRegister(uint8_t address, uint16_t data) {
     if (!WaitForMMUReady())
         return false;
 
-    // special case - intercept requests of extra loading distance and perform the change even on the printer's side
-    if (address == 0x0b) {
+    // special cases - intercept requests of registers which influence the printer's behaviour too + perform the change even on the printer's side
+    switch (address) {
+    case 0x0b:
         logic.PlanExtraLoadDistance(data);
+        break;
+    case 0x14:
+        logic.PlanPulleySlowFeedRate(data);
+        break;
+    default:
+        break; // do not intercept any other register writes
     }
 
     do {
@@ -171,7 +177,7 @@ void MMU2::mmu_loop() {
 void __attribute__((noinline)) MMU2::mmu_loop_inner(bool reportErrors) {
     logicStepLastStatus = LogicStep(reportErrors); // it looks like the mmu_loop doesn't need to be a blocking call
 
-    if (is_mmu_error_monitor_active) {
+    if (isErrorScreenRunning()) {
         // Call this every iteration to keep the knob rotation responsive
         // This includes when mmu_loop is called within manage_response
         ReportErrorHook((CommandInProgress)logic.CommandInProgress(), (uint16_t)lastErrorCode, uint8_t(lastErrorSource));
@@ -194,11 +200,11 @@ void MMU2::CheckFINDARunout() {
 
 struct ReportingRAII {
     CommandInProgress cip;
-    explicit inline ReportingRAII(CommandInProgress cip)
+    explicit inline __attribute__((always_inline)) ReportingRAII(CommandInProgress cip)
         : cip(cip) {
         BeginReport(cip, (uint16_t)ProgressCode::EngagingIdler);
     }
-    inline ~ReportingRAII() {
+    inline __attribute__((always_inline)) ~ReportingRAII() {
         EndReport(cip, (uint16_t)ProgressCode::OK);
     }
 };
@@ -298,6 +304,8 @@ bool MMU2::VerifyFilamentEnteredPTFE() {
         }
     }
 
+    Disable_E0();
+
     if (fsensorState) {
         IncrementLoadFails();
         return false;
@@ -324,7 +332,7 @@ bool MMU2::ToolChangeCommonOnce(uint8_t slot) {
             // if the extruder has been parked, it will get unparked once the ToolChange command finishes OK
             // - so no ResumeUnpark() at this spot
 
-            unload();
+            UnloadInner();
             // if we run out of retries, we must do something ... may be raise an error screen and allow the user to do something
             // but honestly - if the MMU restarts during every toolchange,
             // something else is seriously broken and stopping a print is probably our best option.
@@ -334,9 +342,9 @@ bool MMU2::ToolChangeCommonOnce(uint8_t slot) {
         if (VerifyFilamentEnteredPTFE()) {
             return true; // success
         } else {         // Prepare a retry attempt
-            unload();
+            UnloadInner();
             if (retries == 2 && cutter_enabled()) {
-                cut_filament(slot, false); // try cutting filament tip at the last attempt
+                CutFilamentInner(slot); // try cutting filament tip at the last attempt
             }
         }
     }
@@ -444,35 +452,48 @@ bool MMU2::set_filament_type(uint8_t /*slot*/, uint8_t /*type*/) {
     return true;
 }
 
+void MMU2::UnloadInner() {
+    FSensorBlockRunout blockRunout;
+    filament_ramming();
+
+    // we assume the printer managed to relieve filament tip from the gears,
+    // so repeating that part in case of an MMU restart is not necessary
+    for (;;) {
+        Disable_E0();
+        logic.UnloadFilament();
+        if (manage_response(false, true))
+            break;
+        IncrementMMUFails();
+    }
+    MakeSound(Confirm);
+
+    // no active tool
+    extruder = MMU2_NO_TOOL;
+    tool_change_extruder = MMU2_NO_TOOL;
+}
+
 bool MMU2::unload() {
     if (!WaitForMMUReady())
         return false;
 
     WaitForHotendTargetTempBeep();
 
-    {
-        FSensorBlockRunout blockRunout;
-        ReportingRAII rep(CommandInProgress::UnloadFilament);
-        filament_ramming();
+    ReportingRAII rep(CommandInProgress::UnloadFilament);
+    UnloadInner();
 
-        // we assume the printer managed to relieve filament tip from the gears,
-        // so repeating that part in case of an MMU restart is not necessary
-        for (;;) {
-            Disable_E0();
-            logic.UnloadFilament();
-            if (manage_response(false, true))
-                break;
-            IncrementMMUFails();
-        }
-        MakeSound(Confirm);
-
-        // no active tool
-        extruder = MMU2_NO_TOOL;
-        tool_change_extruder = MMU2_NO_TOOL;
-    }
     return true;
 }
 
+void MMU2::CutFilamentInner(uint8_t slot) {
+    for (;;) {
+        Disable_E0();
+        logic.CutFilament(slot);
+        if (manage_response(false, true))
+            break;
+        IncrementMMUFails();
+    }
+}
+
 bool MMU2::cut_filament(uint8_t slot, bool enableFullScreenMsg /*= true*/) {
     if (!WaitForMMUReady())
         return false;
@@ -486,13 +507,7 @@ bool MMU2::cut_filament(uint8_t slot, bool enableFullScreenMsg /*= true*/) {
         }
 
         ReportingRAII rep(CommandInProgress::CutFilament);
-        for (;;) {
-            Disable_E0();
-            logic.CutFilament(slot);
-            if (manage_response(false, true))
-                break;
-            IncrementMMUFails();
-        }
+        CutFilamentInner(slot);
     }
     extruder = MMU2_NO_TOOL;
     tool_change_extruder = MMU2_NO_TOOL;
@@ -612,6 +627,10 @@ void MMU2::SaveAndPark(bool move_axes) {
         Disable_E0();
         planner_synchronize();
 
+        // In case a power panic happens while waiting for the user
+        // take a partial back up of print state into RAM (current position, etc.)
+        refresh_print_state_in_ram();
+
         if (move_axes) {
             mmu_print_saved |= SavedState::ParkExtruder;
             resume_position = planner_current_position(); // save current pos
@@ -666,6 +685,11 @@ void MMU2::ResumeUnpark() {
         // Move Z_AXIS to saved position
         motion_do_blocking_move_to_z(resume_position.xyz[2], feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
 
+        // From this point forward, power panic should not use
+        // the partial backup in RAM since the extruder is no
+        // longer in parking position
+        clear_print_state_in_ram();
+
         mmu_print_saved &= ~(SavedState::ParkExtruder);
     }
 }
@@ -716,7 +740,7 @@ void MMU2::CheckUserInput() {
             break;
         }
         break;
-    case RestartMMU:
+    case ResetMMU:
         Reset(ResetPin); // we cannot do power cycle on the MK3
         // ... but mmu2_power.cpp knows this and triggers a soft-reset instead.
         break;
@@ -871,7 +895,6 @@ void MMU2::filament_ramming() {
 
 void MMU2::execute_extruder_sequence(const E_Step *sequence, uint8_t steps) {
     planner_synchronize();
-    Enable_E0();
 
     const E_Step *step = sequence;
     for (uint8_t i = steps; i ; --i) {
@@ -923,7 +946,7 @@ void MMU2::ReportError(ErrorCode ec, ErrorSource res) {
         lastErrorSource = res;
         LogErrorEvent_P(_O(PrusaErrorTitle(PrusaErrorCodeIndex((uint16_t)ec))));
 
-        if (ec != ErrorCode::OK) {
+        if (ec != ErrorCode::OK && ec != ErrorCode::FILAMENT_EJECTED) {
             IncrementMMUFails();
 
             // check if it is a "power" failure - we consider TMC-related errors as power failures
@@ -1034,7 +1057,7 @@ void MMU2::OnMMUProgressMsgSame(ProgressCode pc) {
                 // After the MMU knows the FSENSOR is triggered it will:
                 // 1. Push the filament by additional 30mm (see fsensorToNozzle)
                 // 2. Disengage the idler and push another 2mm.
-                MoveE(logic.ExtraLoadDistance() + 2, MMU2_LOAD_TO_NOZZLE_FEED_RATE);
+                MoveE(logic.ExtraLoadDistance() + 2, logic.PulleySlowFeedRate());
                 break;
             case FilamentState::NOT_PRESENT:
                 // fsensor not triggered, continue moving extruder
@@ -1044,7 +1067,7 @@ void MMU2::OnMMUProgressMsgSame(ProgressCode pc) {
                     // than 450mm because the firmware will ignore too long extrusions
                     // for safety reasons. See PREVENT_LENGTHY_EXTRUDE.
                     // Use 350mm to be safely away from the prevention threshold
-                    MoveE(350.0f, MMU2_LOAD_TO_NOZZLE_FEED_RATE);
+                    MoveE(350.0f, logic.PulleySlowFeedRate());
                 }
                 break;
             default:

Firmware/mmu2.h

@@ -172,9 +172,6 @@ public:
         }
     }
 
-    // Helper variable to monitor knob in MMU error screen in blocking functions e.g. manage_response
-    bool is_mmu_error_monitor_active;
-
     /// Method to read-only mmu_print_saved
     inline bool MMU_PRINT_SAVED() const { return mmu_print_saved != SavedState::None; }
 
@@ -286,6 +283,8 @@ private:
     bool ToolChangeCommonOnce(uint8_t slot);
 
     void HelpUnloadToFinda();
+    void UnloadInner();
+    void CutFilamentInner(uint8_t slot);
 
     ProtocolLogic logic;          ///< implementation of the protocol logic layer
     uint8_t extruder;             ///< currently active slot in the MMU ... somewhat... not sure where to get it from yet

Firmware/mmu2/buttons.h

@@ -13,7 +13,7 @@ enum class ButtonOperations : uint8_t {
     NoOperation = 0,
     Retry       = 1,
     Continue    = 2,
-    RestartMMU  = 3,
+    ResetMMU  = 3,
     Unload      = 4,
     StopPrint   = 5,
     DisableMMU  = 6,
@@ -26,7 +26,7 @@ enum Buttons : uint8_t {
     Left,
     
     // performed on the printer's side
-    RestartMMU,
+    ResetMMU,
     StopPrint,
     DisableMMU,
     

Firmware/mmu2/check-pce.sh

@@ -0,0 +1,55 @@
+#!/bin/bash
+
+# download Prusa Error Codes for MMU 
+#wget https://raw.githubusercontent.com/3d-gussner/Prusa-Error-Codes/master/04_MMU/error-codes.yaml --output-document=error-codes.yaml
+wget https://raw.githubusercontent.com/prusa3d/Prusa-Error-Codes/master/04_MMU/error-codes.yaml --output-document=error-codes.yaml
+
+oifs="$IFS"  ## save original IFS
+IFS=$'\n'    ## set IFS to break on newline
+codes=($(cat error-codes.yaml |grep "code:" |cut -d '"' -f2))
+titles=($(cat error-codes.yaml |grep 'title:' |cut -d '"' -f2))
+texts=($(cat error-codes.yaml |grep "text:" |cut -d '"' -f2))
+actions=($(cat error-codes.yaml |grep "action:" |cut -d ':' -f2))
+ids=($(cat error-codes.yaml |grep "id:" |cut -d '"' -f2))
+IFS="$oifs"  ## restore original IFS
+
+filename=errors_list.h
+
+clear
+for ((i = 0; i < ${#codes[@]}; i++)) do
+  code=${codes[i]}
+  id=$(cat $filename |grep "${code#04*}" | cut -d "=" -f1 | cut -d "_" -f3- |cut -d " " -f1)
+  title=$(cat $filename |grep "${id}" |grep --max-count=1 "MSG_TITLE" |cut -d '"' -f2)
+  text=$(cat $filename |grep "${id}" |grep --max-count=1 "MSG_DESC" |cut -d '"' -f2)
+  action1=$(cat $filename |grep "),//$id"| cut -d "," -f1)
+  action2=$(cat $filename |grep "),//$id"| cut -d "," -f2)
+  action1=$(echo $action1 | cut -d ":" -f2- |cut -d ":" -f2)
+  action2=$(echo $action2 | cut -d ":" -f2- |cut -d ":" -f2 |cut -d ")" -f1)
+  if [ "$action2" == "NoOperation" ]; then
+  action=" [$action1]"
+  else
+  action=" [$action1,$action2]"
+  fi
+  echo -n "code: $code |"
+  if [ "$id" != "${ids[i]}" ]; then
+    echo -n "$(tput setaf 1) $id $(tput sgr0) # $(tput setaf 2)${ids[i]}$(tput sgr0)|"
+  else
+    echo -n " $id |"
+  fi
+  if [ "$title" != "${titles[i]}" ]; then
+    echo -n "$(tput setaf 1) $title $(tput sgr0) # $(tput setaf 2)${titles[i]}$(tput sgr0)|"
+  else
+    echo -n " $title |"
+  fi
+  if [ "$text" != "${texts[i]}" ]; then
+    echo -n "$(tput setaf 1) $text $(tput sgr0) # $(tput setaf 2)${texts[i]}$(tput sgr0)|"
+  else
+    echo -n " $text |"
+  fi
+  if [ "$action" != "${actions[i]}" ]; then
+    echo -n "$(tput setaf 1) $action $(tput sgr0) # $(tput setaf 2)${actions[i]}$(tput sgr0)|"
+  else
+    echo -n " $action |"
+  fi
+  echo
+done

Firmware/mmu2/errors_list.h

@@ -18,9 +18,9 @@ typedef enum : uint16_t {
 
     ERR_MECHANICAL = 100,
     ERR_MECHANICAL_FINDA_DIDNT_TRIGGER = 101,
-    ERR_MECHANICAL_FINDA_DIDNT_GO_OFF = 102,
+    ERR_MECHANICAL_FINDA_FILAMENT_STUCK = 102,
     ERR_MECHANICAL_FSENSOR_DIDNT_TRIGGER = 103,
-    ERR_MECHANICAL_FSENSOR_DIDNT_GO_OFF = 104,
+    ERR_MECHANICAL_FSENSOR_FILAMENT_STUCK = 104,
 
     ERR_MECHANICAL_PULLEY_CANNOT_MOVE = 105,
     ERR_MECHANICAL_FSENSOR_TOO_EARLY = 106,
@@ -32,37 +32,37 @@ typedef enum : uint16_t {
     ERR_MECHANICAL_IDLER_CANNOT_MOVE = 126,
 
     ERR_TEMPERATURE = 200,
-    ERR_TEMPERATURE_PULLEY_WARNING_TMC_TOO_HOT = 201,
-    ERR_TEMPERATURE_SELECTOR_WARNING_TMC_TOO_HOT = 211,
-    ERR_TEMPERATURE_IDLER_WARNING_TMC_TOO_HOT = 221,
+    ERR_TEMPERATURE_WARNING_TMC_PULLEY_TOO_HOT = 201,
+    ERR_TEMPERATURE_WARNING_TMC_SELECTOR_TOO_HOT = 211,
+    ERR_TEMPERATURE_WARNING_TMC_IDLER_TOO_HOT = 221,
 
-    ERR_TEMPERATURE_PULLEY_TMC_OVERHEAT_ERROR = 202,
-    ERR_TEMPERATURE_SELECTOR_TMC_OVERHEAT_ERROR = 212,
-    ERR_TEMPERATURE_IDLER_TMC_OVERHEAT_ERROR = 222,
+    ERR_TEMPERATURE_TMC_PULLEY_OVERHEAT_ERROR = 202,
+    ERR_TEMPERATURE_TMC_SELECTOR_OVERHEAT_ERROR = 212,
+    ERR_TEMPERATURE_TMC_IDLER_OVERHEAT_ERROR = 222,
 
 
     ERR_ELECTRICAL = 300,
-    ERR_ELECTRICAL_PULLEY_TMC_DRIVER_ERROR = 301,
-    ERR_ELECTRICAL_SELECTOR_TMC_DRIVER_ERROR = 311,
-    ERR_ELECTRICAL_IDLER_TMC_DRIVER_ERROR = 321,
+    ERR_ELECTRICAL_TMC_PULLEY_DRIVER_ERROR = 301,
+    ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_ERROR = 311,
+    ERR_ELECTRICAL_TMC_IDLER_DRIVER_ERROR = 321,
 
-    ERR_ELECTRICAL_PULLEY_TMC_DRIVER_RESET = 302,
-    ERR_ELECTRICAL_SELECTOR_TMC_DRIVER_RESET = 312,
-    ERR_ELECTRICAL_IDLER_TMC_DRIVER_RESET = 322,
+    ERR_ELECTRICAL_TMC_PULLEY_DRIVER_RESET = 302,
+    ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_RESET = 312,
+    ERR_ELECTRICAL_TMC_IDLER_DRIVER_RESET = 322,
 
-    ERR_ELECTRICAL_PULLEY_TMC_UNDERVOLTAGE_ERROR = 303,
-    ERR_ELECTRICAL_SELECTOR_TMC_UNDERVOLTAGE_ERROR = 313,
-    ERR_ELECTRICAL_IDLER_TMC_UNDERVOLTAGE_ERROR = 323,
+    ERR_ELECTRICAL_TMC_PULLEY_UNDERVOLTAGE_ERROR = 303,
+    ERR_ELECTRICAL_TMC_SELECTOR_UNDERVOLTAGE_ERROR = 313,
+    ERR_ELECTRICAL_TMC_IDLER_UNDERVOLTAGE_ERROR = 323,
 
-    ERR_ELECTRICAL_PULLEY_TMC_DRIVER_SHORTED = 304,
-    ERR_ELECTRICAL_SELECTOR_TMC_DRIVER_SHORTED = 314,
-    ERR_ELECTRICAL_IDLER_TMC_DRIVER_SHORTED = 324,
+    ERR_ELECTRICAL_TMC_PULLEY_DRIVER_SHORTED = 304,
+    ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_SHORTED = 314,
+    ERR_ELECTRICAL_TMC_IDLER_DRIVER_SHORTED = 324,
 
-    ERR_ELECTRICAL_PULLEY_SELFTEST_FAILED = 305,
-    ERR_ELECTRICAL_SELECTOR_SELFTEST_FAILED = 315,
-    ERR_ELECTRICAL_IDLER_SELFTEST_FAILED = 325,
+    ERR_ELECTRICAL_MMU_PULLEY_SELFTEST_FAILED = 305,
+    ERR_ELECTRICAL_MMU_SELECTOR_SELFTEST_FAILED = 315,
+    ERR_ELECTRICAL_MMU_IDLER_SELFTEST_FAILED = 325,
 
-    ERR_ELECTRICAL_MCU_UNDERVOLTAGE_VCC = 306,
+    ERR_ELECTRICAL_MMU_MCU_ERROR = 306,
 
     ERR_CONNECT = 400,
     ERR_CONNECT_MMU_NOT_RESPONDING = 401,
@@ -78,7 +78,7 @@ typedef enum : uint16_t {
     ERR_SYSTEM_UNLOAD_MANUALLY = 506,
     ERR_SYSTEM_FILAMENT_EJECTED = 507,
 
-    ERR_OTHER = 900
+    ERR_OTHER_UNKNOWN_ERROR = 900
 } err_num_t;
 
 // Avr gcc has serious trouble understanding static data structures in PROGMEM
@@ -87,9 +87,9 @@ typedef enum : uint16_t {
 // it really makes no difference if there are "nice" data structures or plain arrays.
 static const constexpr uint16_t errorCodes[] PROGMEM = {
     ERR_MECHANICAL_FINDA_DIDNT_TRIGGER,
-    ERR_MECHANICAL_FINDA_DIDNT_GO_OFF,
+    ERR_MECHANICAL_FINDA_FILAMENT_STUCK,
     ERR_MECHANICAL_FSENSOR_DIDNT_TRIGGER,
-    ERR_MECHANICAL_FSENSOR_DIDNT_GO_OFF,
+    ERR_MECHANICAL_FSENSOR_FILAMENT_STUCK,
     ERR_MECHANICAL_PULLEY_CANNOT_MOVE,
     ERR_MECHANICAL_FSENSOR_TOO_EARLY,
     ERR_MECHANICAL_INSPECT_FINDA,
@@ -98,28 +98,28 @@ static const constexpr uint16_t errorCodes[] PROGMEM = {
     ERR_MECHANICAL_SELECTOR_CANNOT_MOVE,
     ERR_MECHANICAL_IDLER_CANNOT_HOME,
     ERR_MECHANICAL_IDLER_CANNOT_MOVE,
-    ERR_TEMPERATURE_PULLEY_WARNING_TMC_TOO_HOT,
-    ERR_TEMPERATURE_SELECTOR_WARNING_TMC_TOO_HOT,
-    ERR_TEMPERATURE_IDLER_WARNING_TMC_TOO_HOT,
-    ERR_TEMPERATURE_PULLEY_TMC_OVERHEAT_ERROR,
-    ERR_TEMPERATURE_SELECTOR_TMC_OVERHEAT_ERROR,
-    ERR_TEMPERATURE_IDLER_TMC_OVERHEAT_ERROR,
-    ERR_ELECTRICAL_PULLEY_TMC_DRIVER_ERROR,
-    ERR_ELECTRICAL_SELECTOR_TMC_DRIVER_ERROR,
-    ERR_ELECTRICAL_IDLER_TMC_DRIVER_ERROR,
-    ERR_ELECTRICAL_PULLEY_TMC_DRIVER_RESET,
-    ERR_ELECTRICAL_SELECTOR_TMC_DRIVER_RESET,
-    ERR_ELECTRICAL_IDLER_TMC_DRIVER_RESET,
-    ERR_ELECTRICAL_PULLEY_TMC_UNDERVOLTAGE_ERROR,
-    ERR_ELECTRICAL_SELECTOR_TMC_UNDERVOLTAGE_ERROR,
-    ERR_ELECTRICAL_IDLER_TMC_UNDERVOLTAGE_ERROR,
-    ERR_ELECTRICAL_PULLEY_TMC_DRIVER_SHORTED,
-    ERR_ELECTRICAL_SELECTOR_TMC_DRIVER_SHORTED,
-    ERR_ELECTRICAL_IDLER_TMC_DRIVER_SHORTED,
-    ERR_ELECTRICAL_PULLEY_SELFTEST_FAILED,
-    ERR_ELECTRICAL_SELECTOR_SELFTEST_FAILED,
-    ERR_ELECTRICAL_IDLER_SELFTEST_FAILED,
-    ERR_ELECTRICAL_MCU_UNDERVOLTAGE_VCC,
+    ERR_TEMPERATURE_WARNING_TMC_PULLEY_TOO_HOT,
+    ERR_TEMPERATURE_WARNING_TMC_SELECTOR_TOO_HOT,
+    ERR_TEMPERATURE_WARNING_TMC_IDLER_TOO_HOT,
+    ERR_TEMPERATURE_TMC_PULLEY_OVERHEAT_ERROR,
+    ERR_TEMPERATURE_TMC_SELECTOR_OVERHEAT_ERROR,
+    ERR_TEMPERATURE_TMC_IDLER_OVERHEAT_ERROR,
+    ERR_ELECTRICAL_TMC_PULLEY_DRIVER_ERROR,
+    ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_ERROR,
+    ERR_ELECTRICAL_TMC_IDLER_DRIVER_ERROR,
+    ERR_ELECTRICAL_TMC_PULLEY_DRIVER_RESET,
+    ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_RESET,
+    ERR_ELECTRICAL_TMC_IDLER_DRIVER_RESET,
+    ERR_ELECTRICAL_TMC_PULLEY_UNDERVOLTAGE_ERROR,
+    ERR_ELECTRICAL_TMC_SELECTOR_UNDERVOLTAGE_ERROR,
+    ERR_ELECTRICAL_TMC_IDLER_UNDERVOLTAGE_ERROR,
+    ERR_ELECTRICAL_TMC_PULLEY_DRIVER_SHORTED,
+    ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_SHORTED,
+    ERR_ELECTRICAL_TMC_IDLER_DRIVER_SHORTED,
+    ERR_ELECTRICAL_MMU_PULLEY_SELFTEST_FAILED,
+    ERR_ELECTRICAL_MMU_SELECTOR_SELFTEST_FAILED,
+    ERR_ELECTRICAL_MMU_IDLER_SELFTEST_FAILED,
+    ERR_ELECTRICAL_MMU_MCU_ERROR,
     ERR_CONNECT_MMU_NOT_RESPONDING,
     ERR_CONNECT_COMMUNICATION_ERROR,
     ERR_SYSTEM_FILAMENT_ALREADY_LOADED, 
@@ -128,14 +128,15 @@ static const constexpr uint16_t errorCodes[] PROGMEM = {
     ERR_SYSTEM_FW_UPDATE_NEEDED, 
     ERR_SYSTEM_FW_RUNTIME_ERROR,
     ERR_SYSTEM_UNLOAD_MANUALLY,
-    ERR_SYSTEM_FILAMENT_EJECTED
+    ERR_SYSTEM_FILAMENT_EJECTED,
+    ERR_OTHER_UNKNOWN_ERROR
 };
 
 // @@TODO some of the strings are duplicates, can be merged into one     01234567890123456789
 static const char MSG_TITLE_FINDA_DIDNT_TRIGGER[] PROGMEM_I1     = ISTR("FINDA DIDNT TRIGGER"); ////MSG_TITLE_FINDA_DIDNT_TRIGGER c=20
-static const char MSG_TITLE_FINDA_DIDNT_GO_OFF[] PROGMEM_I1      = ISTR("FINDA: FILAM. STUCK"); ////MSG_TITLE_FINDA_DIDNT_GO_OFF c=20
+static const char MSG_TITLE_FINDA_FILAMENT_STUCK[] PROGMEM_I1      = ISTR("FINDA FILAM. STUCK"); ////MSG_TITLE_FINDA_FILAMENT_STUCK c=20
 static const char MSG_TITLE_FSENSOR_DIDNT_TRIGGER[] PROGMEM_I1   = ISTR("FSENSOR DIDNT TRIGG."); ////MSG_TITLE_FSENSOR_DIDNT_TRIGGER c=20
-static const char MSG_TITLE_FSENSOR_DIDNT_GO_OFF[] PROGMEM_I1    = ISTR("FSENSOR: FIL. STUCK"); ////MSG_TITLE_FSENSOR_DIDNT_GO_OFF c=20
+static const char MSG_TITLE_FSENSOR_FILAMENT_STUCK[] PROGMEM_I1    = ISTR("FSENSOR FIL. STUCK"); ////MSG_TITLE_FSENSOR_FILAMENT_STUCK c=20
 static const char MSG_TITLE_PULLEY_CANNOT_MOVE[] PROGMEM_I1      = ISTR("PULLEY CANNOT MOVE"); ////MSG_TITLE_PULLEY_CANNOT_MOVE c=20
 static const char MSG_TITLE_FSENSOR_TOO_EARLY[] PROGMEM_I1       = ISTR("FSENSOR TOO EARLY"); ////MSG_TITLE_FSENSOR_TOO_EARLY c=20
 static const char MSG_TITLE_INSPECT_FINDA[] PROGMEM_I1           = ISTR("INSPECT FINDA"); ////MSG_TITLE_INSPECT_FINDA c=20
@@ -145,40 +146,50 @@ static const char MSG_TITLE_SELECTOR_CANNOT_HOME[] PROGMEM_I1    = ISTR("SELECTO
 static const char MSG_TITLE_IDLER_CANNOT_MOVE[] PROGMEM_I1       = ISTR("IDLER CANNOT MOVE"); ////MSG_TITLE_IDLER_CANNOT_MOVE c=20
 static const char MSG_TITLE_IDLER_CANNOT_HOME[] PROGMEM_I1       = ISTR("IDLER CANNOT HOME"); ////MSG_TITLE_IDLER_CANNOT_HOME c=20
 static const char MSG_TITLE_TMC_WARNING_TMC_TOO_HOT[] PROGMEM_I1 = ISTR("WARNING TMC TOO HOT"); ////MSG_TITLE_TMC_WARNING_TMC_TOO_HOT c=20
-//static const char MSG_TITLE_TMC_WARNING_TMC_TOO_HOT[] PROGMEM_I1 = ISTR("WARNING TMC TOO HOT"); ////MSG_TITLE_TMC_WARNING_TMC_TOO_HOT c=20
-//static const char MSG_TITLE_TMC_WARNING_TMC_TOO_HOT[] PROGMEM_I1 = ISTR("WARNING TMC TOO HOT");
+//static const char MSG_TITLE_WARNING_TMC_PULLEY_TOO_HOT[] PROGMEM_I1 = ISTR("WARNING TMC TOO HOT");
+//static const char MSG_TITLE_WARNING_TMC_SELECTOR_TOO_HOT[] PROGMEM_I1 = ISTR("WARNING TMC TOO HOT");
+//static const char MSG_TITLE_WARNING_TMC_IDLER_TOO_HOT[] PROGMEM_I1 = ISTR("WARNING TMC TOO HOT");
 static const char MSG_TITLE_TMC_OVERHEAT_ERROR[] PROGMEM_I1      = ISTR("TMC OVERHEAT ERROR"); ////MSG_TITLE_TMC_OVERHEAT_ERROR c=20
-//static const char MSG_TITLE_TMC_OVERHEAT_ERROR[] PROGMEM_I1 = ISTR("TMC OVERHEAT ERROR");
-//static const char MSG_TITLE_TMC_OVERHEAT_ERROR[] PROGMEM_I1 = ISTR("TMC OVERHEAT ERROR");
+//static const char MSG_TITLE_TMC_PULLEY_OVERHEAT_ERROR[] PROGMEM_I1 = ISTR("TMC OVERHEAT ERROR");
+//static const char MSG_TITLE_TMC_SELECTOR_OVERHEAT_ERROR[] PROGMEM_I1 = ISTR("TMC OVERHEAT ERROR");
+//static const char MSG_TITLE_TMC_IDLER_OVERHEAT_ERROR[] PROGMEM_I1 = ISTR("TMC OVERHEAT ERROR");
 static const char MSG_TITLE_TMC_DRIVER_ERROR[] PROGMEM_I1        = ISTR("TMC DRIVER ERROR"); ////MSG_TITLE_TMC_DRIVER_ERROR c=20
-//static const char MSG_TITLE_TMC_DRIVER_ERROR[] PROGMEM_I1 = ISTR("TMC DRIVER ERROR");
-//static const char MSG_TITLE_TMC_DRIVER_ERROR[] PROGMEM_I1 = ISTR("TMC DRIVER ERROR");
+//static const char MSG_TITLE_TMC_PULLEY_DRIVER_ERROR[] PROGMEM_I1 = ISTR("TMC DRIVER ERROR");
+//static const char MSG_TITLE_TMC_SELECTOR_DRIVER_ERROR[] PROGMEM_I1 = ISTR("TMC DRIVER ERROR");
+//static const char MSG_TITLE_TMC_IDLER_DRIVER_ERROR[] PROGMEM_I1 = ISTR("TMC DRIVER ERROR");
 static const char MSG_TITLE_TMC_DRIVER_RESET[] PROGMEM_I1        = ISTR("TMC DRIVER RESET"); ////MSG_TITLE_TMC_DRIVER_RESET c=20
-//static const char MSG_TITLE_TMC_DRIVER_RESET[] PROGMEM_I1 = ISTR("TMC DRIVER RESET");
-//static const char MSG_TITLE_TMC_DRIVER_RESET[] PROGMEM_I1 = ISTR("TMC DRIVER RESET");
+//static const char MSG_TITLE_TMC_PULLEY_DRIVER_RESET[] PROGMEM_I1 = ISTR("TMC DRIVER RESET");
+//static const char MSG_TITLE_TMC_SELECTOR_DRIVER_RESET[] PROGMEM_I1 = ISTR("TMC DRIVER RESET");
+//static const char MSG_TITLE_TMC_IDLER_DRIVER_RESET[] PROGMEM_I1 = ISTR("TMC DRIVER RESET");
 static const char MSG_TITLE_TMC_UNDERVOLTAGE_ERROR[] PROGMEM_I1  = ISTR("TMC UNDERVOLTAGE ERR"); ////MSG_TITLE_TMC_UNDERVOLTAGE_ERROR c=20
-//static const char MSG_TITLE_TMC_UNDERVOLTAGE_ERROR[] PROGMEM_I1 = ISTR("TMC UNDERVOLTAGE ERR");
-//static const char MSG_TITLE_TMC_UNDERVOLTAGE_ERROR[] PROGMEM_I1 = ISTR("TMC UNDERVOLTAGE ERR");
+//static const char MSG_TITLE_TMC_PULLEY_UNDERVOLTAGE_ERROR[] PROGMEM_I1 = ISTR("TMC UNDERVOLTAGE ERR");
+//static const char MSG_TITLE_TMC_SELECTOR_UNDERVOLTAGE_ERROR[] PROGMEM_I1 = ISTR("TMC UNDERVOLTAGE ERR");
+//static const char MSG_TITLE_TMC_IDLER_UNDERVOLTAGE_ERROR[] PROGMEM_I1 = ISTR("TMC UNDERVOLTAGE ERR");
 static const char MSG_TITLE_TMC_DRIVER_SHORTED[] PROGMEM_I1      = ISTR("TMC DRIVER SHORTED"); ////MSG_TITLE_TMC_DRIVER_SHORTED c=20
-//static const char MSG_TITLE_TMC_DRIVER_SHORTED[] PROGMEM_I1 = ISTR("TMC DRIVER SHORTED");
-//static const char MSG_TITLE_TMC_DRIVER_SHORTED[] PROGMEM_I1 = ISTR("TMC DRIVER SHORTED");
+//static const char MSG_TITLE_TMC_PULLEY_DRIVER_SHORTED[] PROGMEM_I1 = ISTR("TMC DRIVER SHORTED");
+//static const char MSG_TITLE_TMC_SELECTOR_DRIVER_SHORTED[] PROGMEM_I1 = ISTR("TMC DRIVER SHORTED");
+//static const char MSG_TITLE_TMC_IDLER_DRIVER_SHORTED[] PROGMEM_I1 = ISTR("TMC DRIVER SHORTED");
 static const char MSG_TITLE_SELFTEST_FAILED[] PROGMEM_I1      = ISTR("MMU SELFTEST FAILED"); ////MSG_TITLE_SELFTEST_FAILED c=20
-static const char MSG_TITLE_MCU_UNDERVOLTAGE_VCC[] PROGMEM_I1      = ISTR("MCU UNDERVOLTAGE VCC"); ////MSG_TITLE_MCU_UNDERVOLTAGE_VCC c=20
+//static const char MSG_TITLE_MMU_PULLEY_SELFTEST_FAILED[] PROGMEM_I1      = ISTR("MMU SELFTEST FAILED");
+//static const char MSG_TITLE_MMU_SELECTOR_SELFTEST_FAILED[] PROGMEM_I1      = ISTR("MMU SELFTEST FAILED");
+//static const char MSG_TITLE_MMU_IDLER_SELFTEST_FAILED[] PROGMEM_I1      = ISTR("MMU SELFTEST FAILED");
+static const char MSG_TITLE_MMU_MCU_ERROR[] PROGMEM_I1      = ISTR("MMU MCU ERROR"); ////MSG_TITLE_MMU_MCU_ERROR c=20
 static const char MSG_TITLE_MMU_NOT_RESPONDING[] PROGMEM_I1      = ISTR("MMU NOT RESPONDING"); ////MSG_TITLE_MMU_NOT_RESPONDING c=20
 static const char MSG_TITLE_COMMUNICATION_ERROR[] PROGMEM_I1     = ISTR("COMMUNICATION ERROR"); ////MSG_TITLE_COMMUNICATION_ERROR c=20
-static const char MSG_TITLE_FIL_ALREADY_LOADED[] PROGMEM_I1      = ISTR("FILAMENT ALREADY LOA"); ////MSG_TITLE_FIL_ALREADY_LOADED c=20
+static const char MSG_TITLE_FILAMENT_ALREADY_LOADED[] PROGMEM_I1 = ISTR("FIL. ALREADY LOADED"); ////MSG_TITLE_FILAMENT_ALREADY_LOADED c=20
 static const char MSG_TITLE_INVALID_TOOL[] PROGMEM_I1            = ISTR("INVALID TOOL"); ////MSG_TITLE_INVALID_TOOL c=20
 static const char MSG_TITLE_QUEUE_FULL[] PROGMEM_I1              = ISTR("QUEUE FULL"); ////MSG_TITLE_QUEUE_FULL c=20
 static const char MSG_TITLE_FW_UPDATE_NEEDED[] PROGMEM_I1        = ISTR("MMU FW UPDATE NEEDED"); ////MSG_TITLE_FW_UPDATE_NEEDED c=20
 static const char MSG_TITLE_FW_RUNTIME_ERROR[] PROGMEM_I1        = ISTR("FW RUNTIME ERROR"); ////MSG_TITLE_FW_RUNTIME_ERROR c=20
 static const char MSG_TITLE_UNLOAD_MANUALLY[] PROGMEM_I1         = ISTR("UNLOAD MANUALLY"); ////MSG_TITLE_UNLOAD_MANUALLY c=20
 static const char MSG_TITLE_FILAMENT_EJECTED[] PROGMEM_I1        = ISTR("FILAMENT EJECTED"); ////MSG_TITLE_FILAMENT_EJECTED c=20
+static const char MSG_TITLE_UNKNOWN_ERROR[] PROGMEM_I1           = ISTR("UNKNOWN ERROR"); ////MSG_TITLE_UNKNOWN_ERROR c=20
 
 static const char * const errorTitles [] PROGMEM = {
     _R(MSG_TITLE_FINDA_DIDNT_TRIGGER),
-    _R(MSG_TITLE_FINDA_DIDNT_GO_OFF),
+    _R(MSG_TITLE_FINDA_FILAMENT_STUCK),
     _R(MSG_TITLE_FSENSOR_DIDNT_TRIGGER),
-    _R(MSG_TITLE_FSENSOR_DIDNT_GO_OFF),
+    _R(MSG_TITLE_FSENSOR_FILAMENT_STUCK),
     _R(MSG_TITLE_PULLEY_CANNOT_MOVE),
     _R(MSG_TITLE_FSENSOR_TOO_EARLY),
     _R(MSG_TITLE_INSPECT_FINDA),
@@ -208,53 +219,57 @@ static const char * const errorTitles [] PROGMEM = {
     _R(MSG_TITLE_SELFTEST_FAILED),
     _R(MSG_TITLE_SELFTEST_FAILED),
     _R(MSG_TITLE_SELFTEST_FAILED),
-    _R(MSG_TITLE_MCU_UNDERVOLTAGE_VCC),
+    _R(MSG_TITLE_MMU_MCU_ERROR),
     _R(MSG_TITLE_MMU_NOT_RESPONDING),
     _R(MSG_TITLE_COMMUNICATION_ERROR),
-    _R(MSG_TITLE_FIL_ALREADY_LOADED),
+    _R(MSG_TITLE_FILAMENT_ALREADY_LOADED),
     _R(MSG_TITLE_INVALID_TOOL),
     _R(MSG_TITLE_QUEUE_FULL),
     _R(MSG_TITLE_FW_UPDATE_NEEDED),
     _R(MSG_TITLE_FW_RUNTIME_ERROR),
     _R(MSG_TITLE_UNLOAD_MANUALLY),
-    _R(MSG_TITLE_FILAMENT_EJECTED)
+    _R(MSG_TITLE_FILAMENT_EJECTED),
+    _R(MSG_TITLE_UNKNOWN_ERROR)
 };
 
 // @@TODO looking at the texts, they can be composed of several parts and/or parametrized (could save a lot of space ;) )
 // Moreover, some of them have been disabled in favour of saving some more code size.
 static const char MSG_DESC_FINDA_DIDNT_TRIGGER[] PROGMEM_I1 = ISTR("FINDA didn't trigger while loading the filament. Ensure the filament can move and FINDA works."); ////MSG_DESC_FINDA_DIDNT_TRIGGER c=20 r=8
-static const char MSG_DESC_FINDA_DIDNT_GO_OFF[] PROGMEM_I1 = ISTR("FINDA didn't switch off while unloading filament. Try unloading manually. Ensure filament can move and FINDA works."); ////MSG_DESC_FINDA_DIDNT_GO_OFF c=20 r=8
-static const char MSG_DESC_FSENSOR_DIDNT_TRIGGER[] PROGMEM_I1 = ISTR("Filament sensor didn't trigger while loading the filament. Ensure the filament reached the fsensor and the sensor works."); ////MSG_DESC_FSENSOR_DIDNT_TRIGGER c=20 r=8
-static const char MSG_DESC_FSENSOR_DIDNT_GO_OFF[] PROGMEM_I1 = ISTR("Filament sensor didn't switch off while unloading filament. Ensure filament can move and the sensor works."); ////MSG_DESC_FSENSOR_DIDNT_GO_OFF c=20 r=8
-static const char MSG_DESC_PULLEY_STALLED[] PROGMEM_I1 = ISTR("Pulley motor stalled. Ensure the pulley can move and check the wiring."); ////MSG_DESC_PULLEY_STALLED c=20 r=8
+static const char MSG_DESC_FINDA_FILAMENT_STUCK[] PROGMEM_I1 = ISTR("FINDA didn't switch off while unloading filament. Try unloading manually. Ensure filament can move and FINDA works."); ////MSG_DESC_FINDA_FILAMENT_STUCK c=20 r=8
+static const char MSG_DESC_FSENSOR_DIDNT_TRIGGER[] PROGMEM_I1 = ISTR("Filament sensor didn't trigger while loading the filament. Ensure the sensor is calibrated and the filament reached it."); ////MSG_DESC_FSENSOR_DIDNT_TRIGGER c=20 r=8
+static const char MSG_DESC_FSENSOR_FILAMENT_STUCK[] PROGMEM_I1 = ISTR("Filament sensor didn't switch off while unloading filament. Ensure filament can move and the sensor works."); ////MSG_DESC_FSENSOR_FILAMENT_STUCK c=20 r=8
+static const char MSG_DESC_PULLEY_CANNOT_MOVE[] PROGMEM_I1 = ISTR("Pulley motor stalled. Ensure the pulley can move and check the wiring."); ////MSG_DESC_PULLEY_CANNOT_MOVE c=20 r=8
 static const char MSG_DESC_FSENSOR_TOO_EARLY[] PROGMEM_I1 = ISTR("Filament sensor triggered too early while loading to extruder. Check there isn't anything stuck in PTFE tube. Check that sensor reads properly."); ////MSG_DESC_FSENSOR_TOO_EARLY c=20 r=8
-static const char MSG_DESC_INSPECT_FINDA[] PROGMEM_I1 = ISTR("Selector can't move due to FINDA detecting a filament. Make sure no filament is in selector and FINDA works properly."); ////MSG_DESC_INSPECT_FINDA c=20 r=8
+static const char MSG_DESC_INSPECT_FINDA[] PROGMEM_I1 = ISTR("Selector can't move due to FINDA detecting a filament. Make sure no filament is in Selector and FINDA works properly."); ////MSG_DESC_INSPECT_FINDA c=20 r=8
 static const char MSG_DESC_LOAD_TO_EXTRUDER_FAILED[] PROGMEM_I1 = ISTR("Loading to extruder failed. Inspect the filament tip shape. Refine the sensor calibration, if needed."); ////MSG_DESC_LOAD_TO_EXTRUDER_FAILED c=20 r=8
 static const char MSG_DESC_SELECTOR_CANNOT_HOME[] PROGMEM_I1 = ISTR("The Selector cannot home properly. Check for anything blocking its movement."); ////MSG_DESC_SELECTOR_CANNOT_HOME c=20 r=8
 static const char MSG_DESC_CANNOT_MOVE[] PROGMEM_I1 = ISTR("Can't move Selector or Idler."); /////MSG_DESC_CANNOT_MOVE c=20 r=4
-//static const char MSG_DESC_SELECTOR_CANNOT_MOVE[] PROGMEM_I1 = ISTR("The Selector cannot move. Check for anything blocking its movement. Check the wiring is correct.");
+//static const char MSG_DESC_SELECTOR_CANNOT_MOVE[] PROGMEM_I1 = ISTR("The Selector cannot move. Check for anything blocking its movement. Check if the wiring is correct.");
 static const char MSG_DESC_IDLER_CANNOT_HOME[] PROGMEM_I1 = ISTR("The Idler cannot home properly. Check for anything blocking its movement."); ////MSG_DESC_IDLER_CANNOT_HOME c=20 r=8
-//static const char MSG_DESC_IDLER_CANNOT_MOVE[] PROGMEM_I1 = ISTR("The Idler cannot move properly. Check for anything blocking its movement. Check the wiring is correct.");
+//static const char MSG_DESC_IDLER_CANNOT_MOVE[] PROGMEM_I1 = ISTR("The Idler cannot move properly. Check for anything blocking its movement. Check if the wiring is correct.");
 static const char MSG_DESC_TMC[] PROGMEM_I1 = ISTR("More details online."); ////MSG_DESC_TMC c=20 r=8
-//static const char MSG_DESC_PULLEY_WARNING_TMC_TOO_HOT[] PROGMEM_I1 = ISTR("TMC driver for the Pulley motor is almost overheating. Make sure there is sufficient airflow near the MMU board.");
-//static const char MSG_DESC_SELECTOR_WARNING_TMC_TOO_HOT[] PROGMEM_I1 = ISTR("TMC driver for the Selector motor is almost overheating. Make sure there is sufficient airflow near the MMU board.");
-//static const char MSG_DESC_IDLER_WARNING_TMC_TOO_HOT[] PROGMEM_I1 = ISTR("TMC driver for the Idler motor is almost overheating. Make sure there is sufficient airflow near the MMU board.");
-//static const char MSG_DESC_PULLEY_TMC_OVERHEAT_ERROR[] PROGMEM_I1 = ISTR("TMC driver for the Pulley motor is overheated. Cool down the MMU board and reset MMU.");
-//static const char MSG_DESC_SELECTOR_TMC_OVERHEAT_ERROR[] PROGMEM_I1 = ISTR("TMC driver for the Selector motor is overheated. Cool down the MMU board and reset MMU.");
-//static const char MSG_DESC_IDLER_TMC_OVERHEAT_ERROR[] PROGMEM_I1 = ISTR("TMC driver for the Idler motor is overheated. Cool down the MMU board and reset MMU.");
-//static const char MSG_DESC_PULLEY_TMC_DRIVER_ERROR[] PROGMEM_I1 = ISTR("TMC driver for the Pulley motor is not responding. Try resetting the MMU.");
-//static const char MSG_DESC_SELECTOR_TMC_DRIVER_ERROR[] PROGMEM_I1 = ISTR("TMC driver for the Selector motor is not responding. Try resetting the MMU.");
-//static const char MSG_DESC_IDLER_TMC_DRIVER_ERROR[] PROGMEM_I1 = ISTR("TMC driver for the Idler motor is not responding. Try resetting the MMU.");
-//static const char MSG_DESC_PULLEY_TMC_DRIVER_RESET[] PROGMEM_I1 = ISTR("TMC driver for the Pulley motor was restarted. There is probably an issue with the electronics. Check the wiring and connectors.");
-//static const char MSG_DESC_SELECTOR_TMC_DRIVER_RESET[] PROGMEM_I1 = ISTR("TMC driver for the Selector motor was restarted. There is probably an issue with the electronics. Check the wiring and connectors.");
-//static const char MSG_DESC_IDLER_TMC_DRIVER_RESET[] PROGMEM_I1 = ISTR("TMC driver for the Idler motor was restarted. There is probably an issue with the electronics. Check the wiring and connectors.");
-//static const char MSG_DESC_PULLEY_TMC_UNDERVOLTAGE_ERROR[] PROGMEM_I1 = ISTR("Not enough current for the Pulley TMC driver. There is probably an issue with the electronics. Check the wiring and connectors.");
-//static const char MSG_DESC_SELECTOR_TMC_UNDERVOLTAGE_ERROR[] PROGMEM_I1 = ISTR("Not enough current for the Selector TMC driver. There is probably an issue with the electronics. Check the wiring and connectors.");
-//static const char MSG_DESC_IDLER_TMC_UNDERVOLTAGE_ERROR[] PROGMEM_I1 = ISTR("Not enough current for the Idler TMC driver. There is probably an issue with the electronics. Check the wiring and connectors.");
-//static const char MSG_DESC_PULLEY_TMC_DRIVER_SHORTED[] PROGMEM_I1 = ISTR("Short circuit on the Pulley TMC driver. Check the wiring and connectors.");
-//static const char MSG_DESC_SELECTOR_TMC_DRIVER_SHORTED[] PROGMEM_I1 = ISTR("Short circuit on the Selector TMC driver. Check the wiring and connectors.");
-//static const char MSG_DESC_IDLER_TMC_DRIVER_SHORTED[] PROGMEM_I1 = ISTR("Short circuit on the Idler TMC driver. Check the wiring and connectors.");
-//static const char MSG_DESC_MCU_UNDERVOLTAGE_VCC[] PROGMEM_I1 = ISTR("MMU MCU detected a 5V undervoltage. There might be an issue with the electronics. Check the wiring and connectors"); ////MSG_DESC_MCU_UNDERVOLTAGE_VCC c=20 r=8
+//static const char MSG_DESC_WARNING_TMC_PULLEY_TOO_HOT[] PROGMEM_I1 = ISTR("TMC driver for the Pulley motor is almost overheating. Make sure there is sufficient airflow near the MMU board.");
+//static const char MSG_DESC_WARNING_TMC_SELECTOR_TOO_HOT[] PROGMEM_I1 = ISTR("TMC driver for the Selector motor is almost overheating. Make sure there is sufficient airflow near the MMU board.");
+//static const char MSG_DESC_WARNING_TMC_IDLER_TOO_HOT[] PROGMEM_I1 = ISTR("TMC driver for the Idler motor is almost overheating. Make sure there is sufficient airflow near the MMU board.");
+//static const char MSG_DESC_TMC_PULLEY_OVERHEAT_ERROR[] PROGMEM_I1 = ISTR("TMC driver for the Pulley motor is overheated. Cool down the MMU board and reset MMU.");
+//static const char MSG_DESC_TMC_SELECTOR_OVERHEAT_ERROR[] PROGMEM_I1 = ISTR("TMC driver for the Selector motor is overheated. Cool down the MMU board and reset MMU.");
+//static const char MSG_DESC_TMC_IDLER_OVERHEAT_ERROR[] PROGMEM_I1 = ISTR("TMC driver for the Idler motor is overheated. Cool down the MMU board and reset MMU.");
+//static const char MSG_DESC_TMC_PULLEY_DRIVER_ERROR[] PROGMEM_I1 = ISTR("TMC driver for the Pulley motor is not responding. Try resetting the MMU. If the issue persists contact support.");
+//static const char MSG_DESC_TMC_SELECTOR_DRIVER_ERROR[] PROGMEM_I1 = ISTR("TMC driver for the Selector motor is not responding. Try resetting the MMU. If the issue persists contact support.");
+//static const char MSG_DESC_TMC_IDLER_DRIVER_ERROR[] PROGMEM_I1 = ISTR("TMC driver for the Idler motor is not responding. Try resetting the MMU. If the issue persists contact support.");
+//static const char MSG_DESC_TMC_PULLEY_DRIVER_RESET[] PROGMEM_I1 = ISTR("TMC driver for the Pulley motor was restarted. There is probably an issue with the electronics. Check the wiring and connectors.");
+//static const char MSG_DESC_TMC_SELECTOR_DRIVER_RESET[] PROGMEM_I1 = ISTR("TMC driver for the Selector motor was restarted. There is probably an issue with the electronics. Check the wiring and connectors.");
+//static const char MSG_DESC_TMC_IDLER_DRIVER_RESET[] PROGMEM_I1 = ISTR("TMC driver for the Idler motor was restarted. There is probably an issue with the electronics. Check the wiring and connectors.");
+//static const char MSG_DESC_TMC_PULLEY_UNDERVOLTAGE_ERROR[] PROGMEM_I1 = ISTR("Not enough current for the Pulley TMC driver. There is probably an issue with the electronics. Check the wiring and connectors.");
+//static const char MSG_DESC_TMC_SELECTOR_UNDERVOLTAGE_ERROR[] PROGMEM_I1 = ISTR("Not enough current for the Selector TMC driver. There is probably an issue with the electronics. Check the wiring and connectors.");
+//static const char MSG_DESC_TMC_IDLER_UNDERVOLTAGE_ERROR[] PROGMEM_I1 = ISTR("Not enough current for the Idler TMC driver. There is probably an issue with the electronics. Check the wiring and connectors.");
+//static const char MSG_DESC_TMC_PULLEY_DRIVER_SHORTED[] PROGMEM_I1 = ISTR("Short circuit on the Pulley TMC driver. Check the wiring and connectors. If the issue persists contact support.");
+//static const char MSG_DESC_TMC_SELECTOR_DRIVER_SHORTED[] PROGMEM_I1 = ISTR("Short circuit on the Selector TMC driver. Check the wiring and connectors. If the issue persists contact support.");
+//static const char MSG_DESC_TMC_IDLER_DRIVER_SHORTED[] PROGMEM_I1 = ISTR("Short circuit on the Idler TMC driver. Check the wiring and connectors. If the issue persists contact support.");
+//static const char MSG_DESC_MMU_PULLEY_SELFTEST_FAILED[] PROGMEM_I1 = ISTR("MMU selftest failed on the Pulley TMC driver. Check the wiring and connectors. If the issue persists contact support.");
+//static const char MSG_DESC_MMU_SELECTOR_SELFTEST_FAILED[] PROGMEM_I1 = ISTR("MMU selftest failed on the Selector TMC driver. Check the wiring and connectors. If the issue persists contact support.");
+//static const char MSG_DESC_MMU_IDLER_SELFTEST_FAILED[] PROGMEM_I1 = ISTR("MMU selftest failed on the Idler TMC driver. Check the wiring and connectors. If the issue persists contact support.");
+//static const char MSG_DESC_MMU_MCU_ERROR[] PROGMEM_I1 = ISTR("MMU detected a power-related issue. Check the wiring and connectors. If the issue persists, contact support."); ////MSG_DESC_MMU_MCU_ERROR c=20 r=8
 static const char MSG_DESC_MMU_NOT_RESPONDING[] PROGMEM_I1 = ISTR("MMU not responding. Check the wiring and connectors."); ////MSG_DESC_MMU_NOT_RESPONDING c=20 r=4
 static const char MSG_DESC_COMMUNICATION_ERROR[] PROGMEM_I1 = ISTR("MMU not responding correctly. Check the wiring and connectors."); ////MSG_DESC_COMMUNICATION_ERROR c=20 r=4
 static const char MSG_DESC_FILAMENT_ALREADY_LOADED[] PROGMEM_I1 = ISTR("Cannot perform the action, filament is already loaded. Unload it first."); ////MSG_DESC_FILAMENT_ALREADY_LOADED c=20 r=8
@@ -263,9 +278,10 @@ static const char MSG_DESC_QUEUE_FULL[] PROGMEM_I1 = ISTR("MMU Firmware internal
 static const char MSG_DESC_FW_RUNTIME_ERROR[] PROGMEM_I1 = ISTR("Internal runtime error. Try resetting the MMU or updating the firmware."); ////MSG_DESC_FW_RUNTIME_ERROR c=20 r=8
 static const char MSG_DESC_UNLOAD_MANUALLY[] PROGMEM_I1 = ISTR("Filament detected unexpectedly. Ensure no filament is loaded. Check the sensors and wiring."); ////MSG_DESC_UNLOAD_MANUALLY c=20 r=8
 static const char MSG_DESC_FILAMENT_EJECTED[] PROGMEM_I1 = ISTR("Remove the ejected filament from the front of the MMU."); ////MSG_DESC_FILAMENT_EJECTED c=20 r=8
+static const char MSG_DESC_UNKNOWN_ERROR[] PROGMEM_I1    = ISTR("Unexpected error occurred."); ////MSG_DESC_UNKNOWN_ERROR c=20 r=8
 
 // Read explanation in mmu2_protocol_logic.cpp -> supportedMmuFWVersion
-static constexpr char MSG_DESC_FW_UPDATE_NEEDED[] PROGMEM_I1 = ISTR("The MMU firmware version incompatible with the printer's FW. Update to version 2.1.9."); ////MSG_DESC_FW_UPDATE_NEEDED c=20 r=8
+static constexpr char MSG_DESC_FW_UPDATE_NEEDED[] PROGMEM_I1 = ISTR("MMU FW version is incompatible with printer FW.Update to version 3.0.0."); ////MSG_DESC_FW_UPDATE_NEEDED c=20 r=8
 static constexpr uint8_t szFWUN = sizeof(MSG_DESC_FW_UPDATE_NEEDED);
 // at least check the individual version characters in MSG_DESC_FW_UPDATE_NEEDED
 static_assert(MSG_DESC_FW_UPDATE_NEEDED[szFWUN - 7] == ('0' + mmuVersionMajor));
@@ -274,10 +290,10 @@ static_assert(MSG_DESC_FW_UPDATE_NEEDED[szFWUN - 3] == ('0' + mmuVersionPatch));
 
 static const char * const errorDescs[] PROGMEM = {
     _R(MSG_DESC_FINDA_DIDNT_TRIGGER),
-    _R(MSG_DESC_FINDA_DIDNT_GO_OFF),
+    _R(MSG_DESC_FINDA_FILAMENT_STUCK),
     _R(MSG_DESC_FSENSOR_DIDNT_TRIGGER),
-    _R(MSG_DESC_FSENSOR_DIDNT_GO_OFF),
-    _R(MSG_DESC_PULLEY_STALLED),
+    _R(MSG_DESC_FSENSOR_FILAMENT_STUCK),
+    _R(MSG_DESC_PULLEY_CANNOT_MOVE),
     _R(MSG_DESC_FSENSOR_TOO_EARLY),
     _R(MSG_DESC_INSPECT_FINDA),
     _R(MSG_DESC_LOAD_TO_EXTRUDER_FAILED),
@@ -285,28 +301,28 @@ static const char * const errorDescs[] PROGMEM = {
     _R(MSG_DESC_CANNOT_MOVE),
     _R(MSG_DESC_IDLER_CANNOT_HOME),
     _R(MSG_DESC_CANNOT_MOVE),
-    _R(MSG_DESC_TMC), // descPULLEY_WARNING_TMC_TOO_HOT
-    _R(MSG_DESC_TMC), // descSELECTOR_WARNING_TMC_TOO_HOT
-    _R(MSG_DESC_TMC), // descIDLER_WARNING_TMC_TOO_HOT
-    _R(MSG_DESC_TMC), // descPULLEY_TMC_OVERHEAT_ERROR
-    _R(MSG_DESC_TMC), // descSELECTOR_TMC_OVERHEAT_ERROR
-    _R(MSG_DESC_TMC), // descIDLER_TMC_OVERHEAT_ERROR
-    _R(MSG_DESC_TMC), // descPULLEY_TMC_DRIVER_ERROR
-    _R(MSG_DESC_TMC), // descSELECTOR_TMC_DRIVER_ERROR
-    _R(MSG_DESC_TMC), // descIDLER_TMC_DRIVER_ERROR
-    _R(MSG_DESC_TMC), // descPULLEY_TMC_DRIVER_RESET
-    _R(MSG_DESC_TMC), // descSELECTOR_TMC_DRIVER_RESET
-    _R(MSG_DESC_TMC), // descIDLER_TMC_DRIVER_RESET
-    _R(MSG_DESC_TMC), // descPULLEY_TMC_UNDERVOLTAGE_ERROR
-    _R(MSG_DESC_TMC), // descSELECTOR_TMC_UNDERVOLTAGE_ERROR
-    _R(MSG_DESC_TMC), // descIDLER_TMC_UNDERVOLTAGE_ERROR
-    _R(MSG_DESC_TMC), // descPULLEY_TMC_DRIVER_SHORTED
-    _R(MSG_DESC_TMC), // descSELECTOR_TMC_DRIVER_SHORTED
-    _R(MSG_DESC_TMC), // descIDLER_TMC_DRIVER_SHORTED
-    _R(MSG_DESC_TMC), // descPULLEY_SELFTEST_FAILED
-    _R(MSG_DESC_TMC), // descSELECTOR_SELFTEST_FAILED
-    _R(MSG_DESC_TMC), // descIDLER_SELFTEST_FAILED
-    _R(MSG_DESC_TMC), // descMSG_DESC_MCU_UNDERVOLTAGE_VCC
+    _R(MSG_DESC_TMC), // descWARNING_TMC_PULLEY_TOO_HOT
+    _R(MSG_DESC_TMC), // descWARNING_TMC_SELECTOR_TOO_HOT
+    _R(MSG_DESC_TMC), // descWARNING_TMC_IDLER_TOO_HOT
+    _R(MSG_DESC_TMC), // descTMC_PULLEY_OVERHEAT_ERROR
+    _R(MSG_DESC_TMC), // descTMC_SELECTOR_OVERHEAT_ERROR
+    _R(MSG_DESC_TMC), // descTMC_IDLER_OVERHEAT_ERROR
+    _R(MSG_DESC_TMC), // descTMC_PULLEY_DRIVER_ERROR
+    _R(MSG_DESC_TMC), // descTMC_SELECTOR_DRIVER_ERROR
+    _R(MSG_DESC_TMC), // descTMC_IDLER_DRIVER_ERROR
+    _R(MSG_DESC_TMC), // descTMC_PULLEY_DRIVER_RESET
+    _R(MSG_DESC_TMC), // descTMC_SELECTOR_DRIVER_RESET
+    _R(MSG_DESC_TMC), // descTMC_IDLER_DRIVER_RESET
+    _R(MSG_DESC_TMC), // descTMC_PULLEY_UNDERVOLTAGE_ERROR
+    _R(MSG_DESC_TMC), // descTMC_SELECTOR_UNDERVOLTAGE_ERROR
+    _R(MSG_DESC_TMC), // descTMC_IDLER_UNDERVOLTAGE_ERROR
+    _R(MSG_DESC_TMC), // descTMC_PULLEY_DRIVER_SHORTED
+    _R(MSG_DESC_TMC), // descTMC_SELECTOR_DRIVER_SHORTED
+    _R(MSG_DESC_TMC), // descTMC_IDLER_DRIVER_SHORTED
+    _R(MSG_DESC_TMC), // descMMU_PULLEY_SELFTEST_FAILED
+    _R(MSG_DESC_TMC), // descMMU_SELECTOR_SELFTEST_FAILED
+    _R(MSG_DESC_TMC), // descMMU_IDLER_SELFTEST_FAILED
+    _R(MSG_DESC_TMC), // descMSG_DESC_MMU_MCU_ERROR
     _R(MSG_DESC_MMU_NOT_RESPONDING),
     _R(MSG_DESC_COMMUNICATION_ERROR),
     _R(MSG_DESC_FILAMENT_ALREADY_LOADED),
@@ -315,7 +331,8 @@ static const char * const errorDescs[] PROGMEM = {
     _R(MSG_DESC_FW_UPDATE_NEEDED),
     _R(MSG_DESC_FW_RUNTIME_ERROR),
     _R(MSG_DESC_UNLOAD_MANUALLY),
-    _R(MSG_DESC_FILAMENT_EJECTED)
+    _R(MSG_DESC_FILAMENT_EJECTED),
+    _R(MSG_DESC_UNKNOWN_ERROR)
 };
 
 // we have max 3 buttons/operations to select from
@@ -328,7 +345,7 @@ static const char * const errorDescs[] PROGMEM = {
 // -> the left button on the MMU is not used/rendered on the LCD (it is also almost unused on the MMU side)
 static const char MSG_BTN_RETRY[] PROGMEM_I1 = ISTR("Retry"); ////MSG_BTN_RETRY c=8
 static const char MSG_BTN_CONTINUE[] PROGMEM_I1 = ISTR("Done"); ////MSG_BTN_CONTINUE c=8
-static const char MSG_BTN_RESTART_MMU[] PROGMEM_I1 = ISTR("RstMMU"); ////MSG_BTN_RESTART_MMU c=8
+static const char MSG_BTN_RESET_MMU[] PROGMEM_I1 = ISTR("ResetMMU"); ////MSG_BTN_RESET_MMU c=8
 static const char MSG_BTN_UNLOAD[] PROGMEM_I1 = ISTR("Unload"); ////MSG_BTN_UNLOAD c=8
 static const char MSG_BTN_STOP[] PROGMEM_I1 = ISTR("Stop"); ////MSG_BTN_STOP c=8
 static const char MSG_BTN_DISABLE_MMU[] PROGMEM_I1 = ISTR("Disable"); ////MSG_BTN_DISABLE_MMU c=8
@@ -338,7 +355,7 @@ static const char MSG_BTN_MORE[] PROGMEM_N1 = "\x06";
 static const char * const btnOperation[] PROGMEM = {
     _R(MSG_BTN_RETRY),
     _R(MSG_BTN_CONTINUE),
-    _R(MSG_BTN_RESTART_MMU),
+    _R(MSG_BTN_RESET_MMU),
     _R(MSG_BTN_UNLOAD),
     _R(MSG_BTN_STOP),
     _R(MSG_BTN_DISABLE_MMU),
@@ -353,11 +370,11 @@ uint8_t constexpr Btns(ButtonOperations bMiddle, ButtonOperations bRight){
 
 static const uint8_t errorButtons[] PROGMEM = {
     Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//FINDA_DIDNT_TRIGGER
-    Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//FINDA_DIDNT_GO_OFF
+    Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//FINDA_FILAMENT_STUCK
     Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//FSENSOR_DIDNT_TRIGGER
-    Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//FSENSOR_DIDNT_GO_OFF
+    Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//FSENSOR_FILAMENT_STUCK
 
-    Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//PULLEY_STALLED
+    Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//PULLEY_CANNOT_MOVE
     Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//FSENSOR_TOO_EARLY
     Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//INSPECT_FINDA
     Btns(ButtonOperations::Continue, ButtonOperations::NoOperation),//LOAD_TO_EXTRUDER_FAILED
@@ -366,39 +383,40 @@ static const uint8_t errorButtons[] PROGMEM = {
     Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//IDLER_CANNOT_HOME
     Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//IDLER_CANNOT_MOVE
 
-    Btns(ButtonOperations::Continue, ButtonOperations::RestartMMU),//PULLEY_WARNING_TMC_TOO_HOT
-    Btns(ButtonOperations::Continue, ButtonOperations::RestartMMU),//SELECTOR_WARNING_TMC_TOO_HOT
-    Btns(ButtonOperations::Continue, ButtonOperations::RestartMMU),//IDLER_WARNING_TMC_TOO_HOT
+    Btns(ButtonOperations::Continue, ButtonOperations::ResetMMU),//WARNING_TMC_PULLEY_TOO_HOT
+    Btns(ButtonOperations::Continue, ButtonOperations::ResetMMU),//WARNING_TMC_SELECTOR_TOO_HOT
+    Btns(ButtonOperations::Continue, ButtonOperations::ResetMMU),//WARNING_TMC_IDLER_TOO_HOT
 
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//PULLEY_TMC_OVERHEAT_ERROR
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//SELECTOR_TMC_OVERHEAT_ERROR
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//IDLER_TMC_OVERHEAT_ERROR
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//PULLEY_TMC_DRIVER_ERROR
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//SELECTOR_TMC_DRIVER_ERROR
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//IDLER_TMC_DRIVER_ERROR
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//PULLEY_TMC_DRIVER_RESET
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//SELECTOR_TMC_DRIVER_RESET
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//IDLER_TMC_DRIVER_RESET
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//PULLEY_TMC_UNDERVOLTAGE_ERROR
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//SELECTOR_TMC_UNDERVOLTAGE_ERROR
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//IDLER_TMC_UNDERVOLTAGE_ERROR
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//PULLEY_TMC_DRIVER_SHORTED
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//SELECTOR_TMC_DRIVER_SHORTED
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//IDLER_TMC_DRIVER_SHORTED
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//PULLEY_SELFTEST_FAILED
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//SELECTOR_SELFTEST_FAILED
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//IDLER_SELFTEST_FAILED
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//MCU_UNDERVOLTAGE_VCC
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::DisableMMU),//MMU_NOT_RESPONDING
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::DisableMMU),//COMMUNICATION_ERROR
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_PULLEY_OVERHEAT_ERROR
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_SELECTOR_OVERHEAT_ERROR
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_IDLER_OVERHEAT_ERROR
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_PULLEY_DRIVER_ERROR
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_SELECTOR_DRIVER_ERROR
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_IDLER_DRIVER_ERROR
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_PULLEY_DRIVER_RESET
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_SELECTOR_DRIVER_RESET
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_IDLER_DRIVER_RESET
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_PULLEY_UNDERVOLTAGE_ERROR
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_SELECTOR_UNDERVOLTAGE_ERROR
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_IDLER_UNDERVOLTAGE_ERROR
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_PULLEY_DRIVER_SHORTED
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_SELECTOR_DRIVER_SHORTED
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//TMC_IDLER_DRIVER_SHORTED
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//MMU_PULLEY_SELFTEST_FAILED
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//MMU_SELECTOR_SELFTEST_FAILED
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//MMU_IDLER_SELFTEST_FAILED
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//MMU_MCU_ERROR
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::DisableMMU),//MMU_NOT_RESPONDING
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::DisableMMU),//COMMUNICATION_ERROR
 
     Btns(ButtonOperations::Unload, ButtonOperations::Continue),//FILAMENT_ALREADY_LOADED
-    Btns(ButtonOperations::StopPrint, ButtonOperations::RestartMMU),//INVALID_TOOL
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//QUEUE_FULL
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::DisableMMU),//FW_UPDATE_NEEDED
-    Btns(ButtonOperations::RestartMMU, ButtonOperations::NoOperation),//FW_RUNTIME_ERROR
+    Btns(ButtonOperations::StopPrint, ButtonOperations::ResetMMU),//INVALID_TOOL
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//QUEUE_FULL
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::DisableMMU),//FW_UPDATE_NEEDED
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//FW_RUNTIME_ERROR
     Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),//UNLOAD_MANUALLY
     Btns(ButtonOperations::Continue, ButtonOperations::NoOperation),//FILAMENT_EJECTED
+    Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation),//UNKOWN_ERROR
 };
 
 static_assert( sizeof(errorCodes) / sizeof(errorCodes[0]) == sizeof(errorDescs) / sizeof (errorDescs[0]));

Firmware/mmu2_error_converter.cpp

@@ -31,20 +31,20 @@ static constexpr uint8_t FindErrorIndex(uint16_t pec) {
 
 // check that the searching algoritm works
 static_assert( FindErrorIndex(ERR_MECHANICAL_FINDA_DIDNT_TRIGGER) == 0);
-static_assert( FindErrorIndex(ERR_MECHANICAL_FINDA_DIDNT_GO_OFF) == 1);
+static_assert( FindErrorIndex(ERR_MECHANICAL_FINDA_FILAMENT_STUCK) == 1);
 static_assert( FindErrorIndex(ERR_MECHANICAL_FSENSOR_DIDNT_TRIGGER) == 2);
-static_assert( FindErrorIndex(ERR_MECHANICAL_FSENSOR_DIDNT_GO_OFF) == 3);
+static_assert( FindErrorIndex(ERR_MECHANICAL_FSENSOR_FILAMENT_STUCK) == 3);
 
 uint8_t PrusaErrorCodeIndex(uint16_t ec) {
     switch (ec) {
     case (uint16_t)ErrorCode::FINDA_DIDNT_SWITCH_ON:
         return FindErrorIndex(ERR_MECHANICAL_FINDA_DIDNT_TRIGGER);
     case (uint16_t)ErrorCode::FINDA_DIDNT_SWITCH_OFF:
-        return FindErrorIndex(ERR_MECHANICAL_FINDA_DIDNT_GO_OFF);
+        return FindErrorIndex(ERR_MECHANICAL_FINDA_FILAMENT_STUCK);
     case (uint16_t)ErrorCode::FSENSOR_DIDNT_SWITCH_ON:
         return FindErrorIndex(ERR_MECHANICAL_FSENSOR_DIDNT_TRIGGER);
     case (uint16_t)ErrorCode::FSENSOR_DIDNT_SWITCH_OFF:
-        return FindErrorIndex(ERR_MECHANICAL_FSENSOR_DIDNT_GO_OFF);
+        return FindErrorIndex(ERR_MECHANICAL_FSENSOR_FILAMENT_STUCK);
     case (uint16_t)ErrorCode::FSENSOR_TOO_EARLY:
         return FindErrorIndex(ERR_MECHANICAL_FSENSOR_TOO_EARLY);
     case (uint16_t)ErrorCode::FINDA_FLICKERS:
@@ -85,7 +85,7 @@ uint8_t PrusaErrorCodeIndex(uint16_t ec) {
     case (uint16_t)ErrorCode::FINDA_VS_EEPROM_DISREPANCY:
         return FindErrorIndex(ERR_SYSTEM_UNLOAD_MANUALLY);
     case (uint16_t)ErrorCode::MCU_UNDERVOLTAGE_VCC:
-        return FindErrorIndex(ERR_ELECTRICAL_MCU_UNDERVOLTAGE_VCC);
+        return FindErrorIndex(ERR_ELECTRICAL_MMU_MCU_ERROR);
     }
     
     // Electrical issues which can be detected somehow.
@@ -93,13 +93,13 @@ uint8_t PrusaErrorCodeIndex(uint16_t ec) {
     // and to keep the code size down.
     if (ec & (uint16_t)ErrorCode::TMC_PULLEY_BIT) {
         if ((ec & (uint16_t)ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION) == (uint16_t)ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION)
-            return FindErrorIndex(ERR_ELECTRICAL_PULLEY_SELFTEST_FAILED);
+            return FindErrorIndex(ERR_ELECTRICAL_MMU_PULLEY_SELFTEST_FAILED);
     } else if (ec & (uint16_t)ErrorCode::TMC_SELECTOR_BIT) {
         if ((ec & (uint16_t)ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION) == (uint16_t)ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION)
-            return FindErrorIndex(ERR_ELECTRICAL_SELECTOR_SELFTEST_FAILED);
+            return FindErrorIndex(ERR_ELECTRICAL_MMU_SELECTOR_SELFTEST_FAILED);
     } else if (ec & (uint16_t)ErrorCode::TMC_IDLER_BIT) {
         if ((ec & (uint16_t)ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION) == (uint16_t)ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION)
-            return FindErrorIndex(ERR_ELECTRICAL_IDLER_SELFTEST_FAILED);
+            return FindErrorIndex(ERR_ELECTRICAL_MMU_IDLER_SELFTEST_FAILED);
     }
 
     // TMC-related errors - multiple of these can occur at once
@@ -107,47 +107,47 @@ uint8_t PrusaErrorCodeIndex(uint16_t ec) {
     // By carefully ordering the checks here we can prioritize the errors being reported to the user.
     if (ec & (uint16_t)ErrorCode::TMC_PULLEY_BIT) {
         if (ec & (uint16_t)ErrorCode::TMC_IOIN_MISMATCH)
-            return FindErrorIndex(ERR_ELECTRICAL_PULLEY_TMC_DRIVER_ERROR);
+            return FindErrorIndex(ERR_ELECTRICAL_TMC_PULLEY_DRIVER_ERROR);
         if (ec & (uint16_t)ErrorCode::TMC_RESET)
-            return FindErrorIndex(ERR_ELECTRICAL_PULLEY_TMC_DRIVER_RESET);
+            return FindErrorIndex(ERR_ELECTRICAL_TMC_PULLEY_DRIVER_RESET);
         if (ec & (uint16_t)ErrorCode::TMC_UNDERVOLTAGE_ON_CHARGE_PUMP)
-            return FindErrorIndex(ERR_ELECTRICAL_PULLEY_TMC_UNDERVOLTAGE_ERROR);
+            return FindErrorIndex(ERR_ELECTRICAL_TMC_PULLEY_UNDERVOLTAGE_ERROR);
         if (ec & (uint16_t)ErrorCode::TMC_SHORT_TO_GROUND)
-            return FindErrorIndex(ERR_ELECTRICAL_PULLEY_TMC_DRIVER_SHORTED);
+            return FindErrorIndex(ERR_ELECTRICAL_TMC_PULLEY_DRIVER_SHORTED);
         if (ec & (uint16_t)ErrorCode::TMC_OVER_TEMPERATURE_WARN)
-            return FindErrorIndex(ERR_TEMPERATURE_PULLEY_WARNING_TMC_TOO_HOT);
+            return FindErrorIndex(ERR_TEMPERATURE_WARNING_TMC_PULLEY_TOO_HOT);
         if (ec & (uint16_t)ErrorCode::TMC_OVER_TEMPERATURE_ERROR)
-            return FindErrorIndex(ERR_TEMPERATURE_PULLEY_TMC_OVERHEAT_ERROR);
+            return FindErrorIndex(ERR_TEMPERATURE_TMC_PULLEY_OVERHEAT_ERROR);
     } else if (ec & (uint16_t)ErrorCode::TMC_SELECTOR_BIT) {
         if (ec & (uint16_t)ErrorCode::TMC_IOIN_MISMATCH)
-            return FindErrorIndex(ERR_ELECTRICAL_SELECTOR_TMC_DRIVER_ERROR);
+            return FindErrorIndex(ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_ERROR);
         if (ec & (uint16_t)ErrorCode::TMC_RESET)
-            return FindErrorIndex(ERR_ELECTRICAL_SELECTOR_TMC_DRIVER_RESET);
+            return FindErrorIndex(ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_RESET);
         if (ec & (uint16_t)ErrorCode::TMC_UNDERVOLTAGE_ON_CHARGE_PUMP)
-            return FindErrorIndex(ERR_ELECTRICAL_SELECTOR_TMC_UNDERVOLTAGE_ERROR);
+            return FindErrorIndex(ERR_ELECTRICAL_TMC_SELECTOR_UNDERVOLTAGE_ERROR);
         if (ec & (uint16_t)ErrorCode::TMC_SHORT_TO_GROUND)
-            return FindErrorIndex(ERR_ELECTRICAL_SELECTOR_TMC_DRIVER_SHORTED);
+            return FindErrorIndex(ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_SHORTED);
         if (ec & (uint16_t)ErrorCode::TMC_OVER_TEMPERATURE_WARN)
-            return FindErrorIndex(ERR_TEMPERATURE_SELECTOR_WARNING_TMC_TOO_HOT);
+            return FindErrorIndex(ERR_TEMPERATURE_WARNING_TMC_SELECTOR_TOO_HOT);
         if (ec & (uint16_t)ErrorCode::TMC_OVER_TEMPERATURE_ERROR)
-            return FindErrorIndex(ERR_TEMPERATURE_SELECTOR_TMC_OVERHEAT_ERROR);
+            return FindErrorIndex(ERR_TEMPERATURE_TMC_SELECTOR_OVERHEAT_ERROR);
     } else if (ec & (uint16_t)ErrorCode::TMC_IDLER_BIT) {
         if (ec & (uint16_t)ErrorCode::TMC_IOIN_MISMATCH)
-            return FindErrorIndex(ERR_ELECTRICAL_IDLER_TMC_DRIVER_ERROR);
+            return FindErrorIndex(ERR_ELECTRICAL_TMC_IDLER_DRIVER_ERROR);
         if (ec & (uint16_t)ErrorCode::TMC_RESET)
-            return FindErrorIndex(ERR_ELECTRICAL_IDLER_TMC_DRIVER_RESET);
+            return FindErrorIndex(ERR_ELECTRICAL_TMC_IDLER_DRIVER_RESET);
         if (ec & (uint16_t)ErrorCode::TMC_UNDERVOLTAGE_ON_CHARGE_PUMP)
-            return FindErrorIndex(ERR_ELECTRICAL_IDLER_TMC_UNDERVOLTAGE_ERROR);
+            return FindErrorIndex(ERR_ELECTRICAL_TMC_IDLER_UNDERVOLTAGE_ERROR);
         if (ec & (uint16_t)ErrorCode::TMC_SHORT_TO_GROUND)
-            return FindErrorIndex(ERR_ELECTRICAL_IDLER_TMC_DRIVER_SHORTED);
+            return FindErrorIndex(ERR_ELECTRICAL_TMC_IDLER_DRIVER_SHORTED);
         if (ec & (uint16_t)ErrorCode::TMC_OVER_TEMPERATURE_WARN)
-            return FindErrorIndex(ERR_TEMPERATURE_IDLER_WARNING_TMC_TOO_HOT);
+            return FindErrorIndex(ERR_TEMPERATURE_WARNING_TMC_IDLER_TOO_HOT);
         if (ec & (uint16_t)ErrorCode::TMC_OVER_TEMPERATURE_ERROR)
-            return FindErrorIndex(ERR_TEMPERATURE_IDLER_TMC_OVERHEAT_ERROR);
+            return FindErrorIndex(ERR_TEMPERATURE_TMC_IDLER_OVERHEAT_ERROR);
     }
 
     // if nothing got caught, return a generic runtime error
-    return FindErrorIndex(ERR_SYSTEM_FW_RUNTIME_ERROR);
+    return FindErrorIndex(ERR_OTHER_UNKNOWN_ERROR);
 }
 
 uint16_t PrusaErrorCode(uint8_t i){
@@ -195,14 +195,14 @@ Buttons ButtonAvailable(uint16_t ec) {
     uint8_t ei = PrusaErrorCodeIndex(ec);
     
     // The list of responses which occur in mmu error dialogs
-    // Return button index or perform some action on the MK3 by itself (like restart MMU)
+    // Return button index or perform some action on the MK3 by itself (like Reset MMU)
     // Based on Prusa-Error-Codes errors_list.h
     // So far hardcoded, but shall be generated in the future
     switch ( PrusaErrorCode(ei) ) {
     case ERR_MECHANICAL_FINDA_DIDNT_TRIGGER:
-    case ERR_MECHANICAL_FINDA_DIDNT_GO_OFF:
+    case ERR_MECHANICAL_FINDA_FILAMENT_STUCK:
     case ERR_MECHANICAL_FSENSOR_DIDNT_TRIGGER:
-    case ERR_MECHANICAL_FSENSOR_DIDNT_GO_OFF:
+    case ERR_MECHANICAL_FSENSOR_FILAMENT_STUCK:
     case ERR_MECHANICAL_FSENSOR_TOO_EARLY:
     case ERR_MECHANICAL_INSPECT_FINDA:
     case ERR_MECHANICAL_SELECTOR_CANNOT_HOME:
@@ -228,49 +228,49 @@ Buttons ButtonAvailable(uint16_t ec) {
             break;
         }
         break;
-    case ERR_TEMPERATURE_PULLEY_WARNING_TMC_TOO_HOT:
-    case ERR_TEMPERATURE_SELECTOR_WARNING_TMC_TOO_HOT:
-    case ERR_TEMPERATURE_IDLER_WARNING_TMC_TOO_HOT:
+    case ERR_TEMPERATURE_WARNING_TMC_PULLEY_TOO_HOT:
+    case ERR_TEMPERATURE_WARNING_TMC_SELECTOR_TOO_HOT:
+    case ERR_TEMPERATURE_WARNING_TMC_IDLER_TOO_HOT:
         switch (buttonSelectedOperation) {
         case ButtonOperations::Continue: // "Continue"
             return Left;
-        case ButtonOperations::RestartMMU: // "Restart MMU"
-            return RestartMMU;
+        case ButtonOperations::ResetMMU: // "Reset MMU"
+            return ResetMMU;
         default:
             break;
         }
         break;
         
-    case ERR_TEMPERATURE_PULLEY_TMC_OVERHEAT_ERROR:
-    case ERR_TEMPERATURE_SELECTOR_TMC_OVERHEAT_ERROR:
-    case ERR_TEMPERATURE_IDLER_TMC_OVERHEAT_ERROR:
+    case ERR_TEMPERATURE_TMC_PULLEY_OVERHEAT_ERROR:
+    case ERR_TEMPERATURE_TMC_SELECTOR_OVERHEAT_ERROR:
+    case ERR_TEMPERATURE_TMC_IDLER_OVERHEAT_ERROR:
         
-    case ERR_ELECTRICAL_PULLEY_TMC_DRIVER_ERROR:
-    case ERR_ELECTRICAL_SELECTOR_TMC_DRIVER_ERROR:
-    case ERR_ELECTRICAL_IDLER_TMC_DRIVER_ERROR:
+    case ERR_ELECTRICAL_TMC_PULLEY_DRIVER_ERROR:
+    case ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_ERROR:
+    case ERR_ELECTRICAL_TMC_IDLER_DRIVER_ERROR:
         
-    case ERR_ELECTRICAL_PULLEY_TMC_DRIVER_RESET:
-    case ERR_ELECTRICAL_SELECTOR_TMC_DRIVER_RESET:
-    case ERR_ELECTRICAL_IDLER_TMC_DRIVER_RESET:
+    case ERR_ELECTRICAL_TMC_PULLEY_DRIVER_RESET:
+    case ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_RESET:
+    case ERR_ELECTRICAL_TMC_IDLER_DRIVER_RESET:
         
-    case ERR_ELECTRICAL_PULLEY_TMC_UNDERVOLTAGE_ERROR:
-    case ERR_ELECTRICAL_SELECTOR_TMC_UNDERVOLTAGE_ERROR:
-    case ERR_ELECTRICAL_IDLER_TMC_UNDERVOLTAGE_ERROR:
+    case ERR_ELECTRICAL_TMC_PULLEY_UNDERVOLTAGE_ERROR:
+    case ERR_ELECTRICAL_TMC_SELECTOR_UNDERVOLTAGE_ERROR:
+    case ERR_ELECTRICAL_TMC_IDLER_UNDERVOLTAGE_ERROR:
         
-    case ERR_ELECTRICAL_PULLEY_TMC_DRIVER_SHORTED:
-    case ERR_ELECTRICAL_SELECTOR_TMC_DRIVER_SHORTED:
-    case ERR_ELECTRICAL_IDLER_TMC_DRIVER_SHORTED:
+    case ERR_ELECTRICAL_TMC_PULLEY_DRIVER_SHORTED:
+    case ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_SHORTED:
+    case ERR_ELECTRICAL_TMC_IDLER_DRIVER_SHORTED:
 
-    case ERR_ELECTRICAL_PULLEY_SELFTEST_FAILED:
-    case ERR_ELECTRICAL_SELECTOR_SELFTEST_FAILED:
-    case ERR_ELECTRICAL_IDLER_SELFTEST_FAILED:
+    case ERR_ELECTRICAL_MMU_PULLEY_SELFTEST_FAILED:
+    case ERR_ELECTRICAL_MMU_SELECTOR_SELFTEST_FAILED:
+    case ERR_ELECTRICAL_MMU_IDLER_SELFTEST_FAILED:
 
     case ERR_SYSTEM_QUEUE_FULL:
     case ERR_SYSTEM_FW_RUNTIME_ERROR:
-    case ERR_ELECTRICAL_MCU_UNDERVOLTAGE_VCC:
+    case ERR_ELECTRICAL_MMU_MCU_ERROR:
         switch (buttonSelectedOperation) {
-        case ButtonOperations::RestartMMU: // "Restart MMU"
-            return RestartMMU;
+        case ButtonOperations::ResetMMU: // "Reset MMU"
+            return ResetMMU;
         default:
             break;
         }
@@ -281,8 +281,8 @@ Buttons ButtonAvailable(uint16_t ec) {
         switch (buttonSelectedOperation) {
         case ButtonOperations::DisableMMU: // "Disable"
             return DisableMMU;
-        case ButtonOperations::RestartMMU: // "RestartMMU"
-            return RestartMMU;
+        case ButtonOperations::ResetMMU: // "ResetMMU"
+            return ResetMMU;
         default:
             break;
         }
@@ -302,8 +302,8 @@ Buttons ButtonAvailable(uint16_t ec) {
         switch (buttonSelectedOperation) {
         case ButtonOperations::StopPrint: // "Stop print"
             return StopPrint;
-        case ButtonOperations::RestartMMU: // "Restart MMU"
-            return RestartMMU;
+        case ButtonOperations::ResetMMU: // "Reset MMU"
+            return ResetMMU;
         default:
             break;
         }

Firmware/mmu2_protocol_logic.cpp

@@ -20,7 +20,7 @@ namespace MMU2 {
 /// Changing the supportedMmuVersion numbers requires patching MSG_DESC_FW_UPDATE_NEEDED and all its related translations by hand.
 ///
 /// The message reads:
-///   "The MMU firmware version incompatible with the printer's FW. Update to version 2.1.6."
+///   "MMU FW version is incompatible with printer FW.Update to version 2.1.9."
 ///
 /// Currently, this is not possible to perform automatically at compile time with the existing languages/translations infrastructure.
 /// To save space a "dumb" solution was chosen + a few static_assert checks in errors_list.h preventing the code from compiling when the string doesn't match.
@@ -365,6 +365,7 @@ StepStatus ProtocolLogic::ProcessCommandQueryResponse() {
         // It can also be an X0 F which means MMU just successfully restarted.
         if (ReqMsg().code == rsp.request.code && ReqMsg().value == rsp.request.value) {
             progressCode = ProgressCode::OK;
+            errorCode = ErrorCode::OK;
             scopeState = ScopeState::Ready;
             rq = RequestMsg(RequestMsgCodes::unknown, 0); // clear the successfully finished request
             return Finished;

Firmware/mmu2_protocol_logic.h

@@ -122,6 +122,17 @@ public:
         return initRegs8[0];
     }
 
+    /// Sets the Pulley slow feed rate to be reported to the MMU.
+    /// Beware - this call doesn't send anything to the MMU.
+    /// The MMU gets the newly set value either by a communication restart or via an explicit WriteRegister call
+    inline void PlanPulleySlowFeedRate(uint8_t psfr) {
+        initRegs8[1] = psfr;
+    }
+    /// @returns the currently preset Pulley slow feed rate
+    inline uint8_t PulleySlowFeedRate() const {
+        return initRegs8[1]; // even though MMU register 0x14 is 16bit, reasonable speeds are way below 255mm/s - saving space ;)
+    }
+
     /// Step the state machine
     StepStatus Step();
 

Firmware/mmu2_reporting.cpp

@@ -212,6 +212,13 @@ enum class ReportErrorHookStates : uint8_t {
 
 enum ReportErrorHookStates ReportErrorHookState = ReportErrorHookStates::RENDER_ERROR_SCREEN;
 
+// Helper variable to monitor knob in MMU error screen in blocking functions e.g. manage_response
+static bool is_mmu_error_monitor_active;
+
+bool isErrorScreenRunning() {
+    return is_mmu_error_monitor_active;
+}
+
 void ReportErrorHook(CommandInProgress /*cip*/, uint16_t ec, uint8_t /*es*/) {
     if (mmu2.MMUCurrentErrorCode() == ErrorCode::OK && mmu2.MMULastErrorSource() == MMU2::ErrorSourceMMU) {
         // If the error code suddenly changes to OK, that means
@@ -228,7 +235,7 @@ void ReportErrorHook(CommandInProgress /*cip*/, uint16_t ec, uint8_t /*es*/) {
         ReportErrorHookState = ReportErrorHookStates::MONITOR_SELECTION;
         [[fallthrough]];
     case (uint8_t)ReportErrorHookStates::MONITOR_SELECTION:
-        mmu2.is_mmu_error_monitor_active = true;
+        is_mmu_error_monitor_active = true;
         ReportErrorHookDynamicRender(); // Render dynamic characters
         sound_wait_for_user();
         switch (ReportErrorHookMonitor(ei)) {
@@ -246,7 +253,7 @@ void ReportErrorHook(CommandInProgress /*cip*/, uint16_t ec, uint8_t /*es*/) {
                 lcd_return_to_status();
                 sound_wait_for_user_reset();
                 // Reset the state in case a new error is reported
-                mmu2.is_mmu_error_monitor_active = false;
+                is_mmu_error_monitor_active = false;
                 ReportErrorHookState = ReportErrorHookStates::RENDER_ERROR_SCREEN;
                 break;
             default:
@@ -260,7 +267,7 @@ void ReportErrorHook(CommandInProgress /*cip*/, uint16_t ec, uint8_t /*es*/) {
         lcd_return_to_status();
         sound_wait_for_user_reset();
         // Reset the state in case a new error is reported
-        mmu2.is_mmu_error_monitor_active = false;
+        is_mmu_error_monitor_active = false;
         ReportErrorHookState = ReportErrorHookStates::RENDER_ERROR_SCREEN;
         break;
     default:

Firmware/mmu2_reporting.h

@@ -22,6 +22,9 @@ void BeginReport(CommandInProgress cip, uint16_t ec);
 /// Called at the end of every MMU operation
 void EndReport(CommandInProgress cip, uint16_t ec);
 
+/// Return true if the printer's LCD is drawing the error screen
+bool isErrorScreenRunning();
+
 /// @brief Called when the MMU or MK3S sends operation error (even repeatedly).
 /// Render MMU error screen on the LCD. This must be non-blocking
 /// and allow the MMU and printer to communicate with each other.

Firmware/mmu2_supported_version.h

@@ -3,8 +3,8 @@
 
 namespace MMU2 {
 
-static constexpr uint8_t mmuVersionMajor = 2;
-static constexpr uint8_t mmuVersionMinor = 1;
-static constexpr uint8_t mmuVersionPatch = 9;
+static constexpr uint8_t mmuVersionMajor = 3;
+static constexpr uint8_t mmuVersionMinor = 0;
+static constexpr uint8_t mmuVersionPatch = 0;
 
 } // namespace MMU2

Firmware/pat9125.cpp

@@ -100,10 +100,6 @@ static void pat9125_wr_reg(uint8_t addr, uint8_t data);
 static uint8_t pat9125_wr_reg_verify(uint8_t addr, uint8_t data);
 static uint8_t pat9125_wr_seq(const uint8_t* seq);
 
-extern FILE _uartout;
-#define uartout (&_uartout)
-
-
 uint8_t pat9125_probe()
 {
 #if defined(PAT9125_SWI2C)

Firmware/planner.cpp

@@ -81,8 +81,8 @@ float* max_feedrate = cs.max_feedrate_normal;
 
 
 // Use M201 to override by software
-unsigned long* max_acceleration_units_per_sq_second = cs.max_acceleration_units_per_sq_second_normal;
-unsigned long axis_steps_per_sqr_second[NUM_AXIS];
+uint32_t* max_acceleration_mm_per_s2 = cs.max_acceleration_mm_per_s2_normal;
+uint32_t max_acceleration_steps_per_s2[NUM_AXIS];
 
 #ifdef ENABLE_AUTO_BED_LEVELING
 // this holds the required transform to compensate for bed level
@@ -94,7 +94,7 @@ matrix_3x3 plan_bed_level_matrix = {
 #endif // #ifdef ENABLE_AUTO_BED_LEVELING
 
 // The current position of the tool in absolute steps
-long position[NUM_AXIS];   //rescaled from extern when axis_steps_per_unit are changed by gcode
+long position[NUM_AXIS];   //rescaled from extern when axis_steps_per_mm are changed by gcode
 static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
 static float previous_nominal_speed; // Nominal speed of previous path line segment
 static float previous_safe_speed; // Exit speed limited by a jerk to full halt of a previous last segment.
@@ -483,10 +483,10 @@ void getHighESpeed()
   uint8_t block_index = block_buffer_tail;
 
   while(block_index != block_buffer_head) {
-    if((block_buffer[block_index].steps_x.wide != 0) ||
-      (block_buffer[block_index].steps_y.wide != 0) ||
-      (block_buffer[block_index].steps_z.wide != 0)) {
-      float se=(float(block_buffer[block_index].steps_e.wide)/float(block_buffer[block_index].step_event_count.wide))*block_buffer[block_index].nominal_speed;
+    if((block_buffer[block_index].steps[X_AXIS].wide != 0) ||
+      (block_buffer[block_index].steps[Y_AXIS].wide != 0) ||
+      (block_buffer[block_index].steps[Z_AXIS].wide != 0)) {
+      float se=(float(block_buffer[block_index].steps[E_AXIS].wide)/float(block_buffer[block_index].step_event_count.wide))*block_buffer[block_index].nominal_speed;
       //se; mm/sec;
       if(se>high)
       {
@@ -521,7 +521,7 @@ bool e_active()
     while(block_index != block_buffer_head)
     {
       block = &block_buffer[block_index];
-      if(block->steps_e.wide != 0) e_active++;
+      if(block->steps[E_AXIS].wide != 0) e_active++;
       block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
     }
   }
@@ -544,10 +544,10 @@ void check_axes_activity()
     while(block_index != block_buffer_head)
     {
       block = &block_buffer[block_index];
-      if(block->steps_x.wide != 0) x_active++;
-      if(block->steps_y.wide != 0) y_active++;
-      if(block->steps_z.wide != 0) z_active++;
-      if(block->steps_e.wide != 0) e_active++;
+      if(block->steps[X_AXIS].wide != 0) x_active++;
+      if(block->steps[Y_AXIS].wide != 0) y_active++;
+      if(block->steps[Z_AXIS].wide != 0) z_active++;
+      if(block->steps[E_AXIS].wide != 0) e_active++;
       block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
     }
   }
@@ -628,9 +628,9 @@ void planner_reset_position()
         else {
             float t = float(step_events_completed) / float(current_block->step_event_count);
             float vec[3] = { 
-              current_block->steps_x / cs.axis_steps_per_unit[X_AXIS],
-              current_block->steps_y / cs.axis_steps_per_unit[Y_AXIS],
-              current_block->steps_z / cs.axis_steps_per_unit[Z_AXIS]
+              current_block->steps_x / cs.axis_steps_per_mm[X_AXIS],
+              current_block->steps_y / cs.axis_steps_per_mm[Y_AXIS],
+              current_block->steps_z / cs.axis_steps_per_mm[Z_AXIS]
             };
             float pos1[3], pos2[3];
             for (int8_t i = 0; i < 3; ++ i) {
@@ -690,7 +690,6 @@ void plan_set_position_curposXYZE(){
     plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 }
 
-float junction_deviation = 0.1;
 // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in 
 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
 // calculation the caller must also provide the physical length of the line in millimeters.
@@ -718,6 +717,8 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
 #endif /* PLANNER_DIAGNOSTICS */
   if(planner_aborted) {
       // avoid planning the block early if aborted
+      SERIAL_ECHO_START;
+      SERIAL_ECHOLNRPGM(_n("Move aborted"));
       return;
   }
 
@@ -808,18 +809,18 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
   // Calculate target position in absolute steps
   //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
   long target[4];
-  target[X_AXIS] = lround(x*cs.axis_steps_per_unit[X_AXIS]);
-  target[Y_AXIS] = lround(y*cs.axis_steps_per_unit[Y_AXIS]);
+  target[X_AXIS] = lround(x*cs.axis_steps_per_mm[X_AXIS]);
+  target[Y_AXIS] = lround(y*cs.axis_steps_per_mm[Y_AXIS]);
 #ifdef MESH_BED_LEVELING
     if (mbl.active){
-        target[Z_AXIS] = lround((z+mbl.get_z(x, y))*cs.axis_steps_per_unit[Z_AXIS]);
+        target[Z_AXIS] = lround((z+mbl.get_z(x, y))*cs.axis_steps_per_mm[Z_AXIS]);
     }else{
-        target[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]);
+        target[Z_AXIS] = lround(z*cs.axis_steps_per_mm[Z_AXIS]);
     }
 #else
-    target[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]);
+    target[Z_AXIS] = lround(z*cs.axis_steps_per_mm[Z_AXIS]);
 #endif // ENABLE_MESH_BED_LEVELING
-  target[E_AXIS] = lround(e*cs.axis_steps_per_unit[E_AXIS]);
+  target[E_AXIS] = lround(e*cs.axis_steps_per_mm[E_AXIS]);
 
   // Calculate subtraction to re-use result in many places
   // This saves memory and speeds up calculations
@@ -843,7 +844,7 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
     }
     
     #ifdef PREVENT_LENGTHY_EXTRUDE
-    if(labs(de) > cs.axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
+    if(labs(de) > cs.axis_steps_per_mm[E_AXIS]*EXTRUDE_MAXLENGTH)
     {
       position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
       #ifdef LIN_ADVANCE
@@ -860,17 +861,17 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
   // Number of steps for each axis
 #ifndef COREXY
 // default non-h-bot planning
-block->steps_x.wide = labs(dx);
-block->steps_y.wide = labs(dy);
+block->steps[X_AXIS].wide = labs(dx);
+block->steps[Y_AXIS].wide = labs(dy);
 #else
 // corexy planning
 // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
-block->steps_x.wide = labs(dx + dy);
-block->steps_y.wide = labs(dx - dy);
+block->steps[X_AXIS].wide = labs(dx + dy);
+block->steps[Y_AXIS].wide = labs(dx - dy);
 #endif
-  block->steps_z.wide = labs(dz);
-  block->steps_e.wide = labs(de);
-  block->step_event_count.wide = max(block->steps_x.wide, max(block->steps_y.wide, max(block->steps_z.wide, block->steps_e.wide)));
+  block->steps[Z_AXIS].wide = labs(dz);
+  block->steps[E_AXIS].wide = labs(de);
+  block->step_event_count.wide = max(block->steps[X_AXIS].wide, max(block->steps[Y_AXIS].wide, max(block->steps[Z_AXIS].wide, block->steps[E_AXIS].wide)));
 
   // Bail if this is a zero-length block
   if (block->step_event_count.wide <= dropsegments)
@@ -897,19 +898,19 @@ block->steps_y.wide = labs(dx - dy);
 
   //enable active axes
   #ifdef COREXY
-  if((block->steps_x.wide != 0) || (block->steps_y.wide != 0))
+  if((block->steps[X_AXIS].wide != 0) || (block->steps[Y_AXIS].wide != 0))
   {
     enable_x();
     enable_y();
   }
   #else
-  if(block->steps_x.wide != 0) enable_x();
-  if(block->steps_y.wide != 0) enable_y();
+  if(block->steps[X_AXIS].wide != 0) enable_x();
+  if(block->steps[Y_AXIS].wide != 0) enable_y();
   #endif
-  if(block->steps_z.wide != 0) enable_z();
-  if(block->steps_e.wide != 0) enable_e0();
+  if(block->steps[Z_AXIS].wide != 0) enable_z();
+  if(block->steps[E_AXIS].wide != 0) enable_e0();
 
-  if (block->steps_e.wide == 0)
+  if (block->steps[E_AXIS].wide == 0)
   {
     if(feed_rate<cs.mintravelfeedrate) feed_rate=cs.mintravelfeedrate;
   }
@@ -927,18 +928,18 @@ Having the real displacement of the head, we can calculate the total movement le
 */ 
   #ifndef COREXY
     float delta_mm[4];
-    delta_mm[X_AXIS] = dx / cs.axis_steps_per_unit[X_AXIS];
-    delta_mm[Y_AXIS] = dy / cs.axis_steps_per_unit[Y_AXIS];
+    delta_mm[X_AXIS] = dx / cs.axis_steps_per_mm[X_AXIS];
+    delta_mm[Y_AXIS] = dy / cs.axis_steps_per_mm[Y_AXIS];
   #else
     float delta_mm[6];
-    delta_mm[X_HEAD] = dx / cs.axis_steps_per_unit[X_AXIS];
-    delta_mm[Y_HEAD] = dy / cs.axis_steps_per_unit[Y_AXIS];
-    delta_mm[X_AXIS] = (dx + dy) / cs.axis_steps_per_unit[X_AXIS];
-    delta_mm[Y_AXIS] = (dx - dy) / cs.axis_steps_per_unit[Y_AXIS];
+    delta_mm[X_HEAD] = dx / cs.axis_steps_per_mm[X_AXIS];
+    delta_mm[Y_HEAD] = dy / cs.axis_steps_per_mm[Y_AXIS];
+    delta_mm[X_AXIS] = (dx + dy) / cs.axis_steps_per_mm[X_AXIS];
+    delta_mm[Y_AXIS] = (dx - dy) / cs.axis_steps_per_mm[Y_AXIS];
   #endif
-  delta_mm[Z_AXIS] = dz / cs.axis_steps_per_unit[Z_AXIS];
-  delta_mm[E_AXIS] = de / cs.axis_steps_per_unit[E_AXIS];
-  if ( block->steps_x.wide <=dropsegments && block->steps_y.wide <=dropsegments && block->steps_z.wide <=dropsegments )
+  delta_mm[Z_AXIS] = dz / cs.axis_steps_per_mm[Z_AXIS];
+  delta_mm[E_AXIS] = de / cs.axis_steps_per_mm[E_AXIS];
+  if ( block->steps[X_AXIS].wide <=dropsegments && block->steps[Y_AXIS].wide <=dropsegments && block->steps[Z_AXIS].wide <=dropsegments )
   {
     block->millimeters = fabs(delta_mm[E_AXIS]);
   } 
@@ -964,9 +965,9 @@ Having the real displacement of the head, we can calculate the total movement le
   if (moves_queued > 1 && moves_queued < (BLOCK_BUFFER_SIZE >> 1)) {
       // segment time in micro seconds
       unsigned long segment_time = lround(1000000.0/inverse_second);
-      if (segment_time < cs.minsegmenttime)
+      if (segment_time < cs.min_segment_time_us)
           // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
-          inverse_second=1000000.0/(segment_time+lround(2*(cs.minsegmenttime-segment_time)/moves_queued));
+          inverse_second=1000000.0/(segment_time+lround(2*(cs.min_segment_time_us-segment_time)/moves_queued));
   }
 #endif // SLOWDOWN
 
@@ -1004,7 +1005,7 @@ Having the real displacement of the head, we can calculate the total movement le
   // block->millimeters ... Euclidian length of the XYZ movement or the E length, if no XYZ movement.
   float steps_per_mm = block->step_event_count.wide/block->millimeters;
   uint32_t accel;
-  if(block->steps_x.wide == 0 && block->steps_y.wide == 0 && block->steps_z.wide == 0)
+  if(block->steps[X_AXIS].wide == 0 && block->steps[Y_AXIS].wide == 0 && block->steps[Z_AXIS].wide == 0)
   {
     accel = ceil(cs.retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
     #ifdef LIN_ADVANCE
@@ -1013,7 +1014,7 @@ Having the real displacement of the head, we can calculate the total movement le
   }
   else
   {
-    accel = ceil((block->steps_e.wide ? cs.acceleration : cs.travel_acceleration) * steps_per_mm); // convert to: acceleration steps/sec^2
+    accel = ceil((block->steps[E_AXIS].wide ? cs.acceleration : cs.travel_acceleration) * steps_per_mm); // convert to: acceleration steps/sec^2
 
     #ifdef LIN_ADVANCE
     /**
@@ -1061,15 +1062,14 @@ Having the real displacement of the head, we can calculate the total movement le
     #endif
 
     // Limit acceleration per axis
-    //FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit.
-    if(((float)accel * (float)block->steps_x.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[X_AXIS])
-	{  accel = axis_steps_per_sqr_second[X_AXIS]; }
-    if(((float)accel * (float)block->steps_y.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[Y_AXIS])
-	{  accel = axis_steps_per_sqr_second[Y_AXIS]; }
-    if(((float)accel * (float)block->steps_e.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[E_AXIS])
-	{  accel = axis_steps_per_sqr_second[E_AXIS]; }
-    if(((float)accel * (float)block->steps_z.wide / (float)block->step_event_count.wide ) > axis_steps_per_sqr_second[Z_AXIS])
-	{  accel = axis_steps_per_sqr_second[Z_AXIS]; }
+    for (uint8_t axis = 0; axis < NUM_AXIS; axis++)
+    {
+      if(block->steps[axis].wide && max_acceleration_steps_per_s2[axis] < accel)
+      {
+        const float max_possible = float(max_acceleration_steps_per_s2[axis]) * float(block->step_event_count.wide) / float(block->steps[axis].wide);
+        if (max_possible < accel) accel = max_possible;
+      }
+    }
   }
   // Acceleration of the segment, in mm/sec^2
   block->acceleration_steps_per_s2 = accel;
@@ -1206,14 +1206,14 @@ Having the real displacement of the head, we can calculate the total movement le
   if (block->use_advance_lead) {
       // calculate the compression ratio for the segment (the required advance steps are computed
       // during trapezoid planning)
-      float adv_comp = extruder_advance_K * e_D_ratio * cs.axis_steps_per_unit[E_AXIS]; // (step/(mm/s))
+      float adv_comp = extruder_advance_K * e_D_ratio * cs.axis_steps_per_mm[E_AXIS]; // (step/(mm/s))
       block->adv_comp = adv_comp / block->speed_factor; // step/(step/min)
 
       float advance_speed;
       if (e_D_ratio > 0)
-          advance_speed = (extruder_advance_K * e_D_ratio * block->acceleration * cs.axis_steps_per_unit[E_AXIS]);
+          advance_speed = (extruder_advance_K * e_D_ratio * block->acceleration * cs.axis_steps_per_mm[E_AXIS]);
       else
-          advance_speed = cs.max_jerk[E_AXIS] * cs.axis_steps_per_unit[E_AXIS];
+          advance_speed = cs.max_jerk[E_AXIS] * cs.axis_steps_per_mm[E_AXIS];
 
       // to save more space we avoid another copy of calc_timer and go through slow division, but we
       // still need to replicate the *exact* same step grouping policy (see below)
@@ -1314,23 +1314,23 @@ void plan_set_position(float x, float y, float z, const float &e)
 
     world2machine(x, y);
 
-  position[X_AXIS] = lround(x*cs.axis_steps_per_unit[X_AXIS]);
-  position[Y_AXIS] = lround(y*cs.axis_steps_per_unit[Y_AXIS]);
+  position[X_AXIS] = lround(x*cs.axis_steps_per_mm[X_AXIS]);
+  position[Y_AXIS] = lround(y*cs.axis_steps_per_mm[Y_AXIS]);
 #ifdef MESH_BED_LEVELING
   position[Z_AXIS] = mbl.active ? 
-    lround((z+mbl.get_z(x, y))*cs.axis_steps_per_unit[Z_AXIS]) :
-    lround(z*cs.axis_steps_per_unit[Z_AXIS]);
+    lround((z+mbl.get_z(x, y))*cs.axis_steps_per_mm[Z_AXIS]) :
+    lround(z*cs.axis_steps_per_mm[Z_AXIS]);
 #else
-  position[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]);
+  position[Z_AXIS] = lround(z*cs.axis_steps_per_mm[Z_AXIS]);
 #endif // ENABLE_MESH_BED_LEVELING
-  position[E_AXIS] = lround(e*cs.axis_steps_per_unit[E_AXIS]);
+  position[E_AXIS] = lround(e*cs.axis_steps_per_mm[E_AXIS]);
   #ifdef LIN_ADVANCE
   position_float[X_AXIS] = x;
   position_float[Y_AXIS] = y;
   position_float[Z_AXIS] = z;
   position_float[E_AXIS] = e;
   #endif
-  st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
+  st_set_position(position);
   previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
   memset(previous_speed, 0, sizeof(previous_speed));
 }
@@ -1341,8 +1341,8 @@ void plan_set_z_position(const float &z)
   #ifdef LIN_ADVANCE
   position_float[Z_AXIS] = z;
   #endif
-  position[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]);
-  st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
+  position[Z_AXIS] = lround(z*cs.axis_steps_per_mm[Z_AXIS]);
+  st_set_position(position);
 }
 
 void plan_set_e_position(const float &e)
@@ -1350,7 +1350,7 @@ void plan_set_e_position(const float &e)
   #ifdef LIN_ADVANCE
   position_float[E_AXIS] = e;
   #endif
-  position[E_AXIS] = lround(e*cs.axis_steps_per_unit[E_AXIS]);  
+  position[E_AXIS] = lround(e*cs.axis_steps_per_mm[E_AXIS]);  
   st_set_e_position(position[E_AXIS]);
 }
 
@@ -1370,7 +1370,7 @@ void set_extrude_min_temp(int temp)
 void reset_acceleration_rates()
 {
 	for(int8_t i=0; i < NUM_AXIS; i++)
-        axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * cs.axis_steps_per_unit[i];
+        max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * cs.axis_steps_per_mm[i];
 }
 
 #ifdef TMC2130
@@ -1379,12 +1379,12 @@ void update_mode_profile()
 	if (tmc2130_mode == TMC2130_MODE_NORMAL)
 	{
 		max_feedrate = cs.max_feedrate_normal;
-		max_acceleration_units_per_sq_second = cs.max_acceleration_units_per_sq_second_normal;
+		max_acceleration_mm_per_s2 = cs.max_acceleration_mm_per_s2_normal;
 	}
 	else if (tmc2130_mode == TMC2130_MODE_SILENT)
 	{
 		max_feedrate = cs.max_feedrate_silent;
-		max_acceleration_units_per_sq_second = cs.max_acceleration_units_per_sq_second_silent;
+		max_acceleration_mm_per_s2 = cs.max_acceleration_mm_per_s2_silent;
 	}
 	reset_acceleration_rates();
 }

Firmware/planner.h

@@ -71,7 +71,7 @@ union dda_usteps_t
 typedef struct {
   // Fields used by the bresenham algorithm for tracing the line
   // steps_x.y,z, step_event_count, acceleration_rate, direction_bits and active_extruder are set by plan_buffer_line().
-  dda_isteps_t steps_x, steps_y, steps_z, steps_e;  // Step count along each axis
+  dda_isteps_t steps[NUM_AXIS];             // Step count along each axis
   dda_usteps_t step_event_count;            // The number of step events required to complete this block
   uint32_t acceleration_rate;               // The acceleration rate used for acceleration calculation
   unsigned char direction_bits;             // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
@@ -187,8 +187,8 @@ extern float* max_feedrate;
 
 
 // Use M201 to override by software
-extern unsigned long* max_acceleration_units_per_sq_second; 
-extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
+extern uint32_t* max_acceleration_mm_per_s2; 
+extern uint32_t max_acceleration_steps_per_s2[NUM_AXIS];
 
 extern long position[NUM_AXIS];
 

Firmware/power_panic.cpp

@@ -0,0 +1,505 @@
+#include "Configuration.h"
+#include "config.h"
+
+#ifdef UVLO_SUPPORT
+#include <avr/wdt.h>
+#include <Arduino.h> // For HIGH and LOW macros
+#include "backlight.h"
+#include "cardreader.h"
+#include "cmdqueue.h"
+#include "eeprom.h"
+#include "fastio.h"
+#include "language.h"
+#include "lcd.h"
+#include "mesh_bed_leveling.h"
+#include "mesh_bed_calibration.h"
+#include "messages.h"
+#include "planner.h"
+#include "power_panic.h"
+#include "stepper.h"
+#include "system_timer.h"
+#include "tmc2130.h"
+#include "temperature.h"
+#include "ultralcd.h"
+
+static const char MSG_INT4[] PROGMEM = "INT4";
+
+static bool recover_machine_state_after_power_panic();
+static void restore_print_from_eeprom(bool mbl_was_active);
+
+static void uvlo_drain_reset() {
+    // burn all that residual power
+    wdt_enable(WDTO_1S);
+    WRITE(BEEPER,HIGH);
+    lcd_clear();
+    lcd_puts_at_P(0, 1, MSG_POWERPANIC_DETECTED);
+    while(1);
+}
+
+
+void uvlo_() {
+    unsigned long time_start = _millis();
+
+    // True if a print is already saved to RAM
+    bool sd_print_saved_in_ram = saved_printing && (saved_printing_type == PRINTING_TYPE_SD);
+
+    // Flag to decide whether or not to set EEPROM_UVLO bit
+    bool sd_print = card.sdprinting || sd_print_saved_in_ram;
+    const bool pos_invalid = mesh_bed_leveling_flag || homing_flag;
+
+    // Conserve as much power as soon as possible
+    // Turn off the LCD backlight
+#ifdef LCD_BL_PIN
+    backlightMode = BACKLIGHT_MODE_DIM;
+    backlightLevel_LOW = 0;
+    backlight_update();
+#endif //LCD_BL_PIN
+
+    // Disable X and Y motors to conserve power
+    disable_x();
+    disable_y();
+
+    // Minimise Z and E motor currents (Hold and Run)
+#ifdef TMC2130
+    currents[Z_AXIS].iHold = 20;
+    currents[Z_AXIS].iRun = 20;
+    tmc2130_setup_chopper(Z_AXIS, tmc2130_mres[Z_AXIS]);
+    currents[E_AXIS].iHold = 20;
+    currents[E_AXIS].iRun = 20;
+    tmc2130_setup_chopper(E_AXIS, tmc2130_mres[E_AXIS]);
+#endif //TMC2130
+
+    if (!sd_print_saved_in_ram && !isPartialBackupAvailable)
+    {
+        saved_bed_temperature = target_temperature_bed;
+        saved_extruder_temperature = target_temperature[active_extruder];
+        saved_extruder_relative_mode = axis_relative_modes & E_AXIS_MASK;
+        saved_fan_speed = fanSpeed;
+    }
+
+    // Stop all heaters before continuing
+    setTargetHotend(0);
+    setTargetBed(0);
+
+    // Fetch data not included in a partial back-up
+    if (!sd_print_saved_in_ram) {
+        // Calculate the file position, from which to resume this print.
+        save_print_file_state();
+
+        // save the global state at planning time
+        save_planner_global_state();
+    }
+
+    // From this point on and up to the print recovery, Z should not move during X/Y travels and
+    // should be controlled precisely. Reset the MBL status before planner_abort_hard in order to
+    // get the physical Z for further manipulation.
+    bool mbl_was_active = mbl.active;
+    mbl.active = false;
+
+    // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
+    // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
+    // are in action.
+    planner_abort_hard();
+
+    // When there is no position already saved, then we must grab whatever the current position is.
+    // This is most likely a position where the printer is in the middle of a G-code move
+    if (!sd_print_saved_in_ram && !isPartialBackupAvailable)
+    {
+        memcpy(saved_pos, current_position, sizeof(saved_pos));
+        if (pos_invalid) saved_pos[X_AXIS] = X_COORD_INVALID;
+    }
+
+    // Store the print logical Z position, which we need to recover (a slight error here would be
+    // recovered on the next Gcode instruction, while a physical location error would not)
+    float logical_z = saved_pos[Z_AXIS];
+    if(mbl_was_active) {
+        // Mesh bed leveling was being actively applied to the Z-position. Revert the
+        // mesh bed leveling offset value.
+        logical_z -= mbl.get_z(saved_pos[X_AXIS], saved_pos[Y_AXIS]);
+    }
+    eeprom_update_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z, logical_z);
+
+    // Store the print E position before we lose track
+    eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), saved_pos[E_AXIS]);
+    eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, !saved_extruder_relative_mode);
+
+    // Clean the input command queue, inhibit serial processing using saved_printing
+    cmdqueue_reset();
+    card.sdprinting = false;
+    saved_printing = true;
+
+    // Enable stepper driver interrupt to move Z axis. This should be fine as the planner and
+    // command queues are empty, SD card printing is disabled, usb is inhibited.
+    planner_aborted = false;
+    sei();
+
+    // Retract
+    current_position[E_AXIS] -= default_retraction;
+    plan_buffer_line_curposXYZE(95);
+    st_synchronize();
+    disable_e0();
+
+    // Read out the current Z motor microstep counter to move the axis up towards
+    // a full step before powering off. NOTE: we need to ensure to schedule more
+    // than "dropsegments" steps in order to move (this is always the case here
+    // due to UVLO_Z_AXIS_SHIFT being used)
+    uint16_t z_res = tmc2130_get_res(Z_AXIS);
+    uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
+    current_position[Z_AXIS] += float(1024 - z_microsteps)
+                                / (z_res * cs.axis_steps_per_mm[Z_AXIS])
+                                + UVLO_Z_AXIS_SHIFT;
+    plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60);
+    st_synchronize();
+    poweroff_z();
+
+    // Write the file position.
+    eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), saved_sdpos);
+
+    // Store the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
+    for (uint8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point)
+    {
+        uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
+        uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
+        // Scale the z value to 1u resolution.
+        int16_t v = mbl_was_active ? int16_t(floor(mbl.z_values[iy][ix] * 1000.f + 0.5f)) : 0;
+        eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL +2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
+    }
+
+    // Write the _final_ Z position
+    eeprom_update_float((float*)EEPROM_UVLO_TINY_CURRENT_POSITION_Z, current_position[Z_AXIS]);
+
+    // Store the current position.
+    eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), saved_pos[X_AXIS]);
+    eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), saved_pos[Y_AXIS]);
+
+    // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
+    eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDRATE, saved_feedrate2);
+    eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY, feedmultiply);
+    eeprom_update_word((uint16_t*)EEPROM_UVLO_TARGET_HOTEND, saved_extruder_temperature);
+    eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, saved_bed_temperature);
+    eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, saved_fan_speed);
+    eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
+    eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
+
+    eeprom_update_float((float*)(EEPROM_UVLO_ACCELL), cs.acceleration);
+    eeprom_update_float((float*)(EEPROM_UVLO_RETRACT_ACCELL), cs.retract_acceleration);
+    eeprom_update_float((float*)(EEPROM_UVLO_TRAVEL_ACCELL), cs.travel_acceleration);
+
+    // Store the saved target
+    eeprom_update_block(saved_start_position, (float *)EEPROM_UVLO_SAVED_START_POSITION, sizeof(saved_start_position));
+
+    eeprom_update_word((uint16_t*)EEPROM_UVLO_SAVED_SEGMENT_IDX, saved_segment_idx);
+
+#ifdef LIN_ADVANCE
+    eeprom_update_float((float*)(EEPROM_UVLO_LA_K), extruder_advance_K);
+#endif
+
+    // Finally store the "power outage" flag.
+    // Note: Recovering a print from EEPROM currently assumes the user
+    // is printing from an SD card, this is why this EEPROM byte is only set
+    // when SD card print is detected
+    if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, PENDING_RECOVERY);
+
+    // Increment power failure counter
+    eeprom_increment_byte((uint8_t*)EEPROM_POWER_COUNT);
+    eeprom_increment_word((uint16_t*)EEPROM_POWER_COUNT_TOT);
+
+    printf_P(_N("UVLO - end %d\n"), _millis() - time_start);
+    WRITE(BEEPER,HIGH);
+
+    // All is set: with all the juice left, try to move extruder away to detach the nozzle completely from the print
+    poweron_z();
+    current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
+    plan_buffer_line_curposXYZE(500);
+    st_synchronize();
+
+    wdt_enable(WDTO_1S);
+    while(1);
+}
+
+
+static void uvlo_tiny() {
+    unsigned long time_start = _millis();
+
+    // Conserve power as soon as possible.
+    disable_x();
+    disable_y();
+    disable_e0();
+
+#ifdef TMC2130
+    currents[Z_AXIS].iHold = 20;
+    currents[Z_AXIS].iRun = 20;
+    tmc2130_setup_chopper(Z_AXIS, tmc2130_mres[Z_AXIS]);
+#endif //TMC2130
+
+    // Stop all heaters
+    setTargetHotend(0);
+    setTargetBed(0);
+
+    // When power is interrupted on the _first_ recovery an attempt can be made to raise the
+    // extruder, causing the Z position to change. Similarly, when recovering, the Z position is
+    // lowered. In such cases we cannot just save Z, we need to re-align the steppers to a fullstep.
+    // Disable MBL (if not already) to work with physical coordinates.
+    mbl.active = false;
+    planner_abort_hard();
+
+    // Allow for small roundoffs to be ignored
+    if(fabs(current_position[Z_AXIS] - eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z))) >= 1.f/cs.axis_steps_per_mm[Z_AXIS])
+    {
+        // Clean the input command queue, inhibit serial processing using saved_printing
+        cmdqueue_reset();
+        card.sdprinting = false;
+        saved_printing = true;
+
+        // Enable stepper driver interrupt to move Z axis. This should be fine as the planner and
+        // command queues are empty, SD card printing is disabled, usb is inhibited.
+        planner_aborted = false;
+        sei();
+
+        // The axis was moved: adjust Z as done on a regular UVLO.
+        uint16_t z_res = tmc2130_get_res(Z_AXIS);
+        uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
+        current_position[Z_AXIS] += float(1024 - z_microsteps)
+                                    / (z_res * cs.axis_steps_per_mm[Z_AXIS])
+                                    + UVLO_TINY_Z_AXIS_SHIFT;
+        plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60);
+        st_synchronize();
+        poweroff_z();
+
+        // Update Z position
+        eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
+    }
+
+    // Update the the "power outage" flag.
+    eeprom_update_byte((uint8_t*)EEPROM_UVLO, PENDING_RECOVERY_RETRY);
+
+    // Increment power failure counter
+    eeprom_increment_byte((uint8_t*)EEPROM_POWER_COUNT);
+    eeprom_increment_word((uint16_t*)EEPROM_POWER_COUNT_TOT);
+
+    printf_P(_N("UVLO_TINY - end %d\n"), _millis() - time_start);
+    uvlo_drain_reset();
+}
+
+void setup_uvlo_interrupt() {
+    DDRE &= ~(1 << 4); //input pin
+    PORTE &= ~(1 << 4); //no internal pull-up
+
+    // sensing falling edge
+    EICRB |= (1 << 0);
+    EICRB &= ~(1 << 1);
+
+    // enable INT4 interrupt
+    EIMSK |= (1 << 4);
+
+    // check if power was lost before we armed the interrupt
+    if(!(PINE & (1 << 4)) && eeprom_read_byte((uint8_t*)EEPROM_UVLO) != NO_PENDING_RECOVERY)
+    {
+        SERIAL_ECHOLNRPGM(MSG_INT4);
+        uvlo_drain_reset();
+    }
+}
+
+ISR(INT4_vect) {
+    EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
+    SERIAL_ECHOLNRPGM(MSG_INT4);
+    if (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == NO_PENDING_RECOVERY)
+    {
+        if(printer_active()) {
+            uvlo_();
+        }
+    } else {
+        // There is already a pending recovery waiting. Power outage in this scenario
+        // arrives before we can fully recover the print. In that case call a 'tiny'
+        // version of uvlo_() which doesn't overwrite the print state already waiting in EEPROM
+        uvlo_tiny();
+    }
+}
+
+void recover_print(uint8_t automatic) {
+    lcd_update_enable(true);
+    lcd_update(2);
+    lcd_setstatuspgm(_i("Recovering print"));////MSG_RECOVERING_PRINT c=20
+
+    // Recover position, temperatures and extrude_multipliers
+    bool mbl_was_active = recover_machine_state_after_power_panic();
+
+    // Lift the print head 25mm, first to avoid collisions with oozed material with the print,
+    // and second also so one may remove the excess priming material.
+    if(eeprom_read_byte((uint8_t*)EEPROM_UVLO) == PENDING_RECOVERY)
+    {
+        enquecommandf_P(PSTR("G1 Z%.3f F800"), current_position[Z_AXIS] + 25);
+    }
+
+    // Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine
+    // transformation status. G28 will not touch Z when MBL is off.
+    enquecommand_P(PSTR("G28 X Y"));
+    // Set the target bed and nozzle temperatures and wait.
+    enquecommandf_P(PSTR("M104 S%d"), target_temperature[active_extruder]);
+    enquecommandf_P(PSTR("M140 S%d"), target_temperature_bed);
+    enquecommandf_P(PSTR("M109 S%d"), target_temperature[active_extruder]);
+    enquecommand_P(MSG_M83); //E axis relative mode
+
+    // If not automatically recoreverd (long power loss)
+    if(automatic == 0){
+        //Extrude some filament to stabilize the pressure
+        enquecommand_P(PSTR("G1 E5 F120"));
+        // Retract to be consistent with a short pause
+        enquecommandf_P(G1_E_F2700, default_retraction);
+    }
+
+    puts_P(_N("Temperature Restored\n"));
+    gcode_M114();
+
+    // Restart the print.
+    restore_print_from_eeprom(mbl_was_active);
+    puts_P(_N("Done reading EEPROM\n"));
+    gcode_M114();
+}
+
+bool recover_machine_state_after_power_panic() {
+    // 1) Preset some dummy values for the XY axes
+    current_position[X_AXIS] = 0;
+    current_position[Y_AXIS] = 0;
+
+    // 2) Restore the mesh bed leveling offsets, but not the MBL status.
+    // This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
+    bool mbl_was_active = false;
+    for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
+        uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
+        uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
+        // Scale the z value to 10u resolution.
+        int16_t v;
+        eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2);
+        if (v != 0)
+            mbl_was_active = true;
+        mbl.z_values[iy][ix] = float(v) * 0.001f;
+    }
+
+    // Recover the physical coordinate of the Z axis at the time of the power panic.
+    // The current position after power panic is moved to the next closest 0th full step.
+    current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z));
+
+    // Recover last E axis position
+    current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
+
+    // 3) Initialize the logical to physical coordinate system transformation.
+    world2machine_initialize();
+
+    // 4) Load the baby stepping value, which is expected to be active at the time of power panic.
+    // The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
+    babystep_load();
+
+    // 5) Set the physical positions from the logical positions using the world2machine transformation
+    // This is only done to inizialize Z/E axes with physical locations, since X/Y are unknown.
+    clamp_to_software_endstops(current_position);
+    set_destination_to_current();
+    plan_set_position_curposXYZE();
+    SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
+    print_world_coordinates();
+
+    // 6) Power up the Z motors, mark their positions as known.
+    axis_known_position[Z_AXIS] = true;
+    enable_z();
+
+    // 7) Recover the target temperatures.
+    target_temperature[active_extruder] = eeprom_read_word((uint16_t*)EEPROM_UVLO_TARGET_HOTEND);
+    target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
+
+    // 8) Recover extruder multipilers
+    extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
+    extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
+
+    // 9) Recover the saved target
+    eeprom_read_block(saved_start_position, (float *)EEPROM_UVLO_SAVED_START_POSITION, sizeof(saved_start_position));
+
+    saved_segment_idx = eeprom_read_word((uint16_t*)EEPROM_UVLO_SAVED_SEGMENT_IDX);
+
+#ifdef LIN_ADVANCE
+    extruder_advance_K = eeprom_read_float((float*)EEPROM_UVLO_LA_K);
+#endif
+
+     return mbl_was_active;
+}
+
+void restore_print_from_eeprom(bool mbl_was_active) {
+    int feedrate_rec;
+    int feedmultiply_rec;
+    uint8_t fan_speed_rec;
+    char filename[FILENAME_LENGTH];
+    uint8_t depth = 0;
+    char dir_name[9];
+
+    fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
+    feedrate_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDRATE);
+    feedmultiply_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY);
+    SERIAL_ECHOPGM("Feedrate:");
+    MYSERIAL.print(feedrate_rec);
+    SERIAL_ECHOPGM(", feedmultiply:");
+    MYSERIAL.println(feedmultiply_rec);
+
+    depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
+
+    MYSERIAL.println(int(depth));
+    for (uint8_t i = 0; i < depth; i++) {
+        for (uint8_t j = 0; j < 8; j++) {
+            dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
+        }
+        dir_name[8] = '\0';
+        MYSERIAL.println(dir_name);
+        card.chdir(dir_name, false);
+    }
+
+    for (uint8_t i = 0; i < 8; i++) {
+        filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
+    }
+    filename[8] = '\0';
+
+    MYSERIAL.print(filename);
+    strcat_P(filename, PSTR(".gco"));
+    enquecommandf_P(MSG_M23, filename);
+    uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
+    SERIAL_ECHOPGM("Position read from eeprom:");
+    MYSERIAL.println(position);
+
+    // Move to the XY print position in logical coordinates, where the print has been killed, but
+    // without shifting Z along the way. This requires performing the move without mbl.
+    float pos_x = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
+    float pos_y = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
+    if (pos_x != X_COORD_INVALID) {
+        enquecommandf_P(PSTR("G1 X%-.3f Y%-.3f F3000"), pos_x, pos_y);
+    }
+
+    // Enable MBL and switch to logical positioning
+    if (mbl_was_active)
+        enquecommand_P(PSTR("PRUSA MBL V1"));
+
+    // Move the Z axis down to the print, in logical coordinates.
+    enquecommandf_P(PSTR("G1 Z%-.3f"), eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)));
+
+    // Restore acceleration settings
+    float acceleration = eeprom_read_float((float*)(EEPROM_UVLO_ACCELL));
+    float retract_acceleration = eeprom_read_float((float*)(EEPROM_UVLO_RETRACT_ACCELL));
+    float travel_acceleration = eeprom_read_float((float*)(EEPROM_UVLO_TRAVEL_ACCELL));
+    // accelerations are usually ordinary numbers, no need to keep extensive amount of decimal places
+    enquecommandf_P(PSTR("M204 P%-.1f R%-.1f T%-.1f"), acceleration, retract_acceleration, travel_acceleration);
+
+    // Unretract.
+    enquecommandf_P(G1_E_F2700, default_retraction);
+    // Recover final E axis position and mode
+    float pos_e = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
+    enquecommandf_P(PSTR("G92 E%-.3f"), pos_e);
+    if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
+        enquecommand_P(PSTR("M82")); //E axis abslute mode
+    // Set the feedrates saved at the power panic.
+    enquecommandf_P(PSTR("G1 F%d"), feedrate_rec);
+    enquecommandf_P(MSG_M220, feedmultiply_rec);
+    // Set the fan speed saved at the power panic.
+    enquecommandf_P(PSTR("M106 S%u"), fan_speed_rec);
+
+    // Set a position in the file.
+    enquecommandf_P(PSTR("M26 S%lu"), position);
+    enquecommand_P(PSTR("G4 S0"));
+    enquecommand_P(PSTR("PRUSA uvlo"));
+}
+#endif //UVLO_SUPPORT

Firmware/power_panic.h

@@ -0,0 +1,11 @@
+#pragma once
+
+enum PowerPanicFlag : uint8_t {
+    NO_PENDING_RECOVERY = 0,
+    PENDING_RECOVERY = 1, // First power panic, print state is saved in EEPROM
+    PENDING_RECOVERY_RETRY = 2, // Power outage occured during recovery, print is still saved in EEPROM
+};
+
+void uvlo_();
+void recover_print(uint8_t automatic); 
+void setup_uvlo_interrupt();

Firmware/printers.h

@@ -31,10 +31,14 @@
 #define PRINTER_MK3_NAME           "MK3"
 #define PRINTER_MK3_MMU2           20300
 #define PRINTER_MK3_MMU2_NAME      "MK3MMU2"
+#define PRINTER_MK3_MMU3           30300
+#define PRINTER_MK3_MMU3_NAME      "MK3MMU3"
 // *** MK3S
 #define PRINTER_MK3S     		302
 #define PRINTER_MK3S_NAME          "MK3S"
 #define PRINTER_MK3S_MMU2          20302
 #define PRINTER_MK3S_MMU2_NAME     "MK3SMMU2S"
+#define PRINTER_MK3S_MMU3          30302
+#define PRINTER_MK3S_MMU3_NAME     "MK3SMMU3"
 
 #endif //PRINTERS_H

Firmware/sound.cpp

@@ -1,11 +1,12 @@
-#include "sound.h"
-
-#include "Marlin.h"
-
-//#include <inttypes.h>
-//#include <avr/eeprom.h>
-//#include "eeprom.h"
+#include <Arduino.h>
 #include "backlight.h"
+#include "eeprom.h"
+#include "fastio.h"
+#include "pins.h"
+#include "sound.h"
+#include "system_timer.h"
+#include "Timer.h"
+
 
 
 //eSOUND_MODE eSoundMode=e_SOUND_MODE_LOUD;

Firmware/stepper.cpp

@@ -26,7 +26,6 @@
 #include "planner.h"
 #include "temperature.h"
 #include "ultralcd.h"
-#include "language.h"
 #include "cardreader.h"
 #include "speed_lookuptable.h"
 #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
@@ -37,10 +36,7 @@
 #endif //TMC2130
 
 #include "Filament_sensor.h"
-
-#include "mmu2.h"
 #include "ConfigurationStore.h"
-
 #include "Prusa_farm.h"
 
 #ifdef DEBUG_STACK_MONITOR
@@ -196,15 +192,15 @@ void checkHitEndstops()
    SERIAL_ECHO_START;
    SERIAL_ECHORPGM(MSG_ENDSTOPS_HIT);
    if(endstop_hit & _BV(X_AXIS)) {
-     SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/cs.axis_steps_per_unit[X_AXIS]);
+     SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/cs.axis_steps_per_mm[X_AXIS]);
 //     LCD_MESSAGERPGM(CAT2((MSG_ENDSTOPS_HIT), PSTR("X")));
    }
    if(endstop_hit & _BV(Y_AXIS)) {
-     SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/cs.axis_steps_per_unit[Y_AXIS]);
+     SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/cs.axis_steps_per_mm[Y_AXIS]);
 //     LCD_MESSAGERPGM(CAT2((MSG_ENDSTOPS_HIT), PSTR("Y")));
    }
    if(endstop_hit & _BV(Z_AXIS)) {
-     SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/cs.axis_steps_per_unit[Z_AXIS]);
+     SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/cs.axis_steps_per_mm[Z_AXIS]);
 //     LCD_MESSAGERPGM(CAT2((MSG_ENDSTOPS_HIT),PSTR("Z")));
    }
    SERIAL_ECHOLN("");
@@ -328,7 +324,7 @@ FORCE_INLINE void stepper_next_block()
   current_block = plan_get_current_block();
   if (current_block != NULL) {
 #ifdef BACKLASH_X
-	if (current_block->steps_x.wide)
+	if (current_block->steps[X_AXIS].wide)
 	{ //X-axis movement
 		if ((current_block->direction_bits ^ last_dir_bits) & 1)
 		{
@@ -351,7 +347,7 @@ FORCE_INLINE void stepper_next_block()
 	}
 #endif
 #ifdef BACKLASH_Y
-	if (current_block->steps_y.wide)
+	if (current_block->steps[Y_AXIS].wide)
 	{ //Y-axis movement
 		if ((current_block->direction_bits ^ last_dir_bits) & 2)
 		{
@@ -405,7 +401,7 @@ FORCE_INLINE void stepper_next_block()
       counter_z.lo = counter_x.lo;
       counter_e.lo = counter_x.lo;
 #ifdef LIN_ADVANCE
-      e_extruding = current_block->steps_e.lo != 0;
+      e_extruding = current_block->steps[E_AXIS].lo != 0;
 #endif
     } else {
       counter_x.wide = -(current_block->step_event_count.wide >> 1);
@@ -413,7 +409,7 @@ FORCE_INLINE void stepper_next_block()
       counter_z.wide = counter_x.wide;
       counter_e.wide = counter_x.wide;
 #ifdef LIN_ADVANCE
-      e_extruding = current_block->steps_e.wide != 0;
+      e_extruding = current_block->steps[E_AXIS].wide != 0;
 #endif
     }
     step_events_completed.wide = 0;
@@ -492,7 +488,7 @@ FORCE_INLINE void stepper_check_endstops()
         // Normal homing
         SET_BIT_TO(_endstop, X_AXIS, (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING));
       #endif
-        if((_endstop & _old_endstop & _BV(X_AXIS)) && (current_block->steps_x.wide > 0)) {
+        if((_endstop & _old_endstop & _BV(X_AXIS)) && (current_block->steps[X_AXIS].wide > 0)) {
 #ifdef VERBOSE_CHECK_HIT_ENDSTOPS
           endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
 #endif //VERBOSE_CHECK_HIT_ENDSTOPS
@@ -509,7 +505,7 @@ FORCE_INLINE void stepper_check_endstops()
         // Normal homing
           SET_BIT_TO(_endstop, X_AXIS + 4, (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING));
         #endif
-        if((_endstop & _old_endstop & _BV(X_AXIS + 4)) && (current_block->steps_x.wide > 0)){
+        if((_endstop & _old_endstop & _BV(X_AXIS + 4)) && (current_block->steps[X_AXIS].wide > 0)){
 #ifdef VERBOSE_CHECK_HIT_ENDSTOPS
           endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
 #endif //VERBOSE_CHECK_HIT_ENDSTOPS
@@ -533,7 +529,7 @@ FORCE_INLINE void stepper_check_endstops()
       // Normal homing
         SET_BIT_TO(_endstop, Y_AXIS, (READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING));
       #endif
-        if((_endstop & _old_endstop & _BV(Y_AXIS)) && (current_block->steps_y.wide > 0)) {
+        if((_endstop & _old_endstop & _BV(Y_AXIS)) && (current_block->steps[Y_AXIS].wide > 0)) {
 #ifdef VERBOSE_CHECK_HIT_ENDSTOPS
           endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
 #endif //VERBOSE_CHECK_HIT_ENDSTOPS
@@ -550,7 +546,7 @@ FORCE_INLINE void stepper_check_endstops()
         // Normal homing
           SET_BIT_TO(_endstop, Y_AXIS + 4, (READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING));
         #endif
-        if((_endstop & _old_endstop & _BV(Y_AXIS + 4)) && (current_block->steps_y.wide > 0)){
+        if((_endstop & _old_endstop & _BV(Y_AXIS + 4)) && (current_block->steps[Y_AXIS].wide > 0)){
 #ifdef VERBOSE_CHECK_HIT_ENDSTOPS
           endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
 #endif //VERBOSE_CHECK_HIT_ENDSTOPS
@@ -575,7 +571,7 @@ FORCE_INLINE void stepper_check_endstops()
         #else
           SET_BIT_TO(_endstop, Z_AXIS, (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING));
         #endif //TMC2130_SG_HOMING
-        if((_endstop & _old_endstop & _BV(Z_AXIS)) && (current_block->steps_z.wide > 0)) {
+        if((_endstop & _old_endstop & _BV(Z_AXIS)) && (current_block->steps[Z_AXIS].wide > 0)) {
 #ifdef VERBOSE_CHECK_HIT_ENDSTOPS
           endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
 #endif //VERBOSE_CHECK_HIT_ENDSTOPS
@@ -597,7 +593,7 @@ FORCE_INLINE void stepper_check_endstops()
         #else
         SET_BIT_TO(_endstop, Z_AXIS + 4, (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING));
         #endif //TMC2130_SG_HOMING
-        if((_endstop & _old_endstop & _BV(Z_AXIS + 4)) && (current_block->steps_z.wide > 0)) {
+        if((_endstop & _old_endstop & _BV(Z_AXIS + 4)) && (current_block->steps[Z_AXIS].wide > 0)) {
 #ifdef VERBOSE_CHECK_HIT_ENDSTOPS
           endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
 #endif //VERBOSE_CHECK_HIT_ENDSTOPS
@@ -650,7 +646,7 @@ FORCE_INLINE void stepper_tick_lowres()
   for (uint8_t i=0; i < step_loops; ++ i) { // Take multiple steps per interrupt (For high speed moves)
     MSerial.checkRx(); // Check for serial chars.
     // Step in X axis
-    counter_x.lo += current_block->steps_x.lo;
+    counter_x.lo += current_block->steps[X_AXIS].lo;
     if (counter_x.lo > 0) {
       STEP_NC_HI(X_AXIS);
 #ifdef DEBUG_XSTEP_DUP_PIN
@@ -664,7 +660,7 @@ FORCE_INLINE void stepper_tick_lowres()
 #endif //DEBUG_XSTEP_DUP_PIN
     }
     // Step in Y axis
-    counter_y.lo += current_block->steps_y.lo;
+    counter_y.lo += current_block->steps[Y_AXIS].lo;
     if (counter_y.lo > 0) {
       STEP_NC_HI(Y_AXIS);
 #ifdef DEBUG_YSTEP_DUP_PIN
@@ -678,7 +674,7 @@ FORCE_INLINE void stepper_tick_lowres()
 #endif //DEBUG_YSTEP_DUP_PIN    
     }
     // Step in Z axis
-    counter_z.lo += current_block->steps_z.lo;
+    counter_z.lo += current_block->steps[Z_AXIS].lo;
     if (counter_z.lo > 0) {
       STEP_NC_HI(Z_AXIS);
       counter_z.lo -= current_block->step_event_count.lo;
@@ -686,7 +682,7 @@ FORCE_INLINE void stepper_tick_lowres()
       STEP_NC_LO(Z_AXIS);
     }
     // Step in E axis
-    counter_e.lo += current_block->steps_e.lo;
+    counter_e.lo += current_block->steps[E_AXIS].lo;
     if (counter_e.lo > 0) {
 #ifndef LIN_ADVANCE
       STEP_NC_HI(E_AXIS);
@@ -712,7 +708,7 @@ FORCE_INLINE void stepper_tick_highres()
   for (uint8_t i=0; i < step_loops; ++ i) { // Take multiple steps per interrupt (For high speed moves)
     MSerial.checkRx(); // Check for serial chars.
     // Step in X axis
-    counter_x.wide += current_block->steps_x.wide;
+    counter_x.wide += current_block->steps[X_AXIS].wide;
     if (counter_x.wide > 0) {
       STEP_NC_HI(X_AXIS);
 #ifdef DEBUG_XSTEP_DUP_PIN
@@ -726,7 +722,7 @@ FORCE_INLINE void stepper_tick_highres()
 #endif //DEBUG_XSTEP_DUP_PIN
     }
     // Step in Y axis
-    counter_y.wide += current_block->steps_y.wide;
+    counter_y.wide += current_block->steps[Y_AXIS].wide;
     if (counter_y.wide > 0) {
       STEP_NC_HI(Y_AXIS);
 #ifdef DEBUG_YSTEP_DUP_PIN
@@ -740,7 +736,7 @@ FORCE_INLINE void stepper_tick_highres()
 #endif //DEBUG_YSTEP_DUP_PIN    
     }
     // Step in Z axis
-    counter_z.wide += current_block->steps_z.wide;
+    counter_z.wide += current_block->steps[Z_AXIS].wide;
     if (counter_z.wide > 0) {
       STEP_NC_HI(Z_AXIS);
       counter_z.wide -= current_block->step_event_count.wide;
@@ -748,7 +744,7 @@ FORCE_INLINE void stepper_tick_highres()
       STEP_NC_LO(Z_AXIS);
     }
     // Step in E axis
-    counter_e.wide += current_block->steps_e.wide;
+    counter_e.wide += current_block->steps[E_AXIS].wide;
     if (counter_e.wide > 0) {
 #ifndef LIN_ADVANCE
       STEP_NC_HI(E_AXIS);
@@ -867,7 +863,7 @@ FORCE_INLINE void isr() {
             step_rate = acc_step_rate - step_rate; // Decelerate from acceleration end point.
 
             // lower limit
-            if (step_rate < current_block->final_rate)
+            if (step_rate < uint16_t(current_block->final_rate))
                 step_rate = uint16_t(current_block->final_rate);
         }
 
@@ -1313,18 +1309,15 @@ void st_synchronize()
 	}
 }
 
-void st_set_position(const long &x, const long &y, const long &z, const long &e)
+void st_set_position(const long *pos)
 {
   CRITICAL_SECTION_START;
   // Copy 4x4B.
-  // This block locks the interrupts globally for 4.56 us,
-  // which corresponds to a maximum repeat frequency of 219.18 kHz.
+  // This block locks the interrupts globally for 2.06 us,
+  // which corresponds to a maximum repeat frequency of ~484kHz.
   // This blocking is safe in the context of a 10kHz stepper driver interrupt
   // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
-  count_position[X_AXIS] = x;
-  count_position[Y_AXIS] = y;
-  count_position[Z_AXIS] = z;
-  count_position[E_AXIS] = e;
+  memcpy((long *)count_position, pos, sizeof(count_position));
   CRITICAL_SECTION_END;
 }
 
@@ -1355,7 +1348,7 @@ void st_get_position_xy(long &x, long &y)
 float st_get_position_mm(uint8_t axis)
 {
   float steper_position_in_steps = st_get_position(axis);
-  return steper_position_in_steps / cs.axis_steps_per_unit[axis];
+  return steper_position_in_steps / cs.axis_steps_per_mm[axis];
 }
 
 

Firmware/stepper.h

@@ -41,7 +41,7 @@ void isr();
 void st_synchronize();
 
 // Set current position in steps
-void st_set_position(const long &x, const long &y, const long &z, const long &e);
+void st_set_position(const long *pos);
 void st_set_e_position(const long &e);
 
 // Get current position in steps

Firmware/system_timer.h

@@ -16,15 +16,12 @@
 #define _tone tone4
 #define _noTone noTone4
 
-#define timer02_set_pwm0(pwm0)
-
 #else //SYSTEM_TIMER_2
 #define _millis millis
 #define _micros micros
 #define _delay delay
 #define _tone tone
 #define _noTone noTone
-#define timer02_set_pwm0(pwm0)
 #endif //SYSTEM_TIMER_2
 
 // Timer counter, incremented by the 1ms Arduino timer.

Firmware/temp_model/e3d_v6.h

@@ -1,19 +0,0 @@
-#pragma once
-
-#define TEMP_MODEL_E3D_V6_VER 1      // model parameters version
-
-#define TEMP_MODEL_E3D_V6_P 38.      // heater power (W)
-#define TEMP_MODEL_E3D_V6_U 0.       // linear temperature coefficient (W/K/power)
-#define TEMP_MODEL_E3D_V6_V 1.       // linear temperature intercept (W/power)
-
-#define TEMP_MODEL_E3D_V6_C 12.1     // initial guess for heatblock capacitance (J/K)
-#define TEMP_MODEL_E3D_V6_R 20.5     // initial guess for heatblock resistance (K/W)
-
-#define TEMP_MODEL_E3D_V6_fS 0.065   // sim. 1st order IIR filter factor (f=100/27)
-#define TEMP_MODEL_E3D_V6_LAG 2100   // sim. response lag (ms, 0-2160)
-
-#define TEMP_MODEL_E3D_V6_W 1.2      // Default warning threshold (K/s)
-#define TEMP_MODEL_E3D_V6_E 1.74     // Default error threshold (K/s)
-
-// fall-back resistance vector (R0-15)
-#define TEMP_MODEL_E3D_V6_Rv {TEMP_MODEL_E3D_V6_R, 18.4, 16.7, 15.2, 14.1, 13.3, 12.7, 12.1, 11.7, 11.3, 11., 10.8, 10.6, 10.4, 10.2, 10.1}

Firmware/temperature.cpp

@@ -92,9 +92,9 @@
 #define ENABLE_TEMP_MGR_INTERRUPT()  TIMSKx |=  (1<<OCIExA)
 #define DISABLE_TEMP_MGR_INTERRUPT() TIMSKx &= ~(1<<OCIExA)
 
-#ifdef TEMP_MODEL
-// temperature model interface
-#include "temp_model.h"
+#ifdef THERMAL_MODEL
+// thermal model interface
+#include "thermal_model.h"
 #endif
 
 #include "Filament_sensor.h"
@@ -288,7 +288,6 @@ void __attribute__((noinline)) PID_autotune(float temp, int extruder, int ncycle
   if (extruder<0)
   {
      soft_pwm_bed = (MAX_BED_POWER)/2;
-	 timer02_set_pwm0(soft_pwm_bed << 1);
      bias = d = (MAX_BED_POWER)/2;
      target_temperature_bed = (int)temp; // to display the requested target bed temperature properly on the main screen
    }
@@ -321,10 +320,8 @@ void __attribute__((noinline)) PID_autotune(float temp, int extruder, int ncycle
       if(heating == true && input > temp) {
         if(_millis() - t2 > 5000) { 
           heating=false;
-          if (extruder<0)
-		  {
+          if (extruder<0) {
             soft_pwm_bed = (bias - d) >> 1;
-			timer02_set_pwm0(soft_pwm_bed << 1);
 		  }
           else
             soft_pwm[extruder] = (bias - d) >> 1;
@@ -381,7 +378,6 @@ void __attribute__((noinline)) PID_autotune(float temp, int extruder, int ncycle
           if (extruder<0)
 		  {
             soft_pwm_bed = (bias + d) >> 1;
-			timer02_set_pwm0(soft_pwm_bed << 1);
 		  }
           else
             soft_pwm[extruder] = (bias + d) >> 1;
@@ -390,7 +386,10 @@ void __attribute__((noinline)) PID_autotune(float temp, int extruder, int ncycle
         }
       } 
     }
-    if(input > (temp + 20)) {
+    #ifndef MAX_OVERSHOOT_PID_AUTOTUNE
+      #define MAX_OVERSHOOT_PID_AUTOTUNE 20
+    #endif
+    if(input > (temp + MAX_OVERSHOOT_PID_AUTOTUNE)) {
       SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature too high");
 	  pid_tuning_finished = true;
 	  pid_cycle = 0;
@@ -487,7 +486,7 @@ enum class TempErrorType : uint8_t
     min,
     preheat,
     runaway,
-#ifdef TEMP_MODEL
+#ifdef THERMAL_MODEL
     model,
 #endif
 };
@@ -555,10 +554,10 @@ void manage_heater()
     // syncronize temperatures with isr
     updateTemperatures();
 
-#ifdef TEMP_MODEL
+#ifdef THERMAL_MODEL
     // handle model warnings first, so not to override the error handler
-    if(temp_model::warning_state.warning)
-        temp_model::handle_warning();
+    if(thermal_model::warning_state.warning)
+        thermal_model::handle_warning();
 #endif
 
     // handle temperature errors
@@ -568,8 +567,8 @@ void manage_heater()
     // periodically check fans
     checkFans();
 
-#ifdef TEMP_MODEL_DEBUG
-    temp_model::log_usr();
+#ifdef THERMAL_MODEL_DEBUG
+    thermal_model::log_usr();
 #endif
 }
 
@@ -1540,7 +1539,7 @@ void handle_temp_error()
 #endif
         }
         break;
-#ifdef TEMP_MODEL
+#ifdef THERMAL_MODEL
     case TempErrorType::model:
         if(temp_error_state.assert) {
             if(IsStopped() == false) {
@@ -1794,12 +1793,10 @@ static void pid_bed(const float current, const int target)
     if(current < BED_MAXTEMP)
     {
         soft_pwm_bed = (int)pid_output >> 1;
-        timer02_set_pwm0(soft_pwm_bed << 1);
     }
     else
     {
         soft_pwm_bed = 0;
-        timer02_set_pwm0(soft_pwm_bed << 1);
     }
 
 #elif !defined(BED_LIMIT_SWITCHING)
@@ -1809,18 +1806,15 @@ static void pid_bed(const float current, const int target)
         if(current >= target)
         {
             soft_pwm_bed = 0;
-            timer02_set_pwm0(soft_pwm_bed << 1);
         }
         else
         {
             soft_pwm_bed = MAX_BED_POWER>>1;
-            timer02_set_pwm0(soft_pwm_bed << 1);
         }
     }
     else
     {
         soft_pwm_bed = 0;
-        timer02_set_pwm0(soft_pwm_bed << 1);
         WRITE(HEATER_BED_PIN,LOW);
     }
 #else //#ifdef BED_LIMIT_SWITCHING
@@ -1830,18 +1824,15 @@ static void pid_bed(const float current, const int target)
         if(current > target + BED_HYSTERESIS)
         {
             soft_pwm_bed = 0;
-            timer02_set_pwm0(soft_pwm_bed << 1);
         }
         else if(current <= target - BED_HYSTERESIS)
         {
             soft_pwm_bed = MAX_BED_POWER>>1;
-            timer02_set_pwm0(soft_pwm_bed << 1);
         }
     }
     else
     {
         soft_pwm_bed = 0;
-        timer02_set_pwm0(soft_pwm_bed << 1);
         WRITE(HEATER_BED_PIN,LOW);
     }
 #endif //BED_LIMIT_SWITCHING
@@ -1849,7 +1840,6 @@ static void pid_bed(const float current, const int target)
     if(target==0)
     {
         soft_pwm_bed = 0;
-        timer02_set_pwm0(soft_pwm_bed << 1);
     }
 #endif //TEMP_SENSOR_BED
 }
@@ -1971,10 +1961,10 @@ static void temp_mgr_isr()
     temp_error_state.assert = false;
     check_temp_raw(); // check min/max temp using raw values
     check_temp_runaway(); // classic temperature hysteresis check
-#ifdef TEMP_MODEL
-    temp_model::check(); // model-based heater check
-#ifdef TEMP_MODEL_DEBUG
-    temp_model::log_isr();
+#ifdef THERMAL_MODEL
+    thermal_model::check(); // model-based heater check
+#ifdef THERMAL_MODEL_DEBUG
+    thermal_model::log_isr();
 #endif
 #endif
 
@@ -2015,7 +2005,6 @@ void disable_heater()
 #endif
 #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1
       // TODO: this doesn't take immediate effect!
-      timer02_set_pwm0(0);
       bedPWMDisabled = 0;
 #endif
   }
@@ -2089,8 +2078,8 @@ static void check_temp_raw()
     check_min_temp_raw();
 }
 
-#ifdef TEMP_MODEL
-namespace temp_model {
+#ifdef THERMAL_MODEL
+namespace thermal_model {
 
 void model_data::reset(uint8_t heater_pwm _UNUSED, uint8_t fan_pwm _UNUSED,
     float heater_temp _UNUSED, float ambient_temp _UNUSED)
@@ -2102,7 +2091,7 @@ void model_data::reset(uint8_t heater_pwm _UNUSED, uint8_t fan_pwm _UNUSED,
     dT_lag_size = L / (uint16_t)(TEMP_MGR_INTV * 1000);
 
     // initial values
-    for(uint8_t i = 0; i != TEMP_MODEL_MAX_LAG_SIZE; ++i)
+    for(uint8_t i = 0; i != THERMAL_MODEL_MAX_LAG_SIZE; ++i)
         dT_lag_buf[i] = NAN;
     dT_lag_idx = 0;
     dT_err_prev = 0;
@@ -2143,7 +2132,7 @@ void model_data::step(uint8_t heater_pwm, uint8_t fan_pwm, float heater_temp, fl
 
     // calculate and filter dT_err
     float dT_err = (cur_heater_temp - T_prev) - dT_lag;
-    float dT_err_f = iir_mul(dT_err_prev, dT_err, TEMP_MODEL_fE, 0.);
+    float dT_err_f = iir_mul(dT_err_prev, dT_err, THERMAL_MODEL_fE, 0.);
     T_prev = cur_heater_temp;
     dT_err_prev = dT_err_f;
 
@@ -2175,8 +2164,8 @@ static bool calibrated()
     if(isnan(data.fS)) return false;
     if(!(data.L > 0)) return false;
     if(!(data.Ta_corr != NAN)) return false;
-    for(uint8_t i = 0; i != TEMP_MODEL_R_SIZE; ++i) {
-        if(!(temp_model::data.R[i] >= 0))
+    for(uint8_t i = 0; i != THERMAL_MODEL_R_SIZE; ++i) {
+        if(!(thermal_model::data.R[i] >= 0))
             return false;
     }
     if(!(data.warn != NAN)) return false;
@@ -2209,7 +2198,7 @@ static void check()
     warning_state.assert = data.flag_bits.warning;
     if(warning_state.assert) {
         warning_state.warning = true;
-        warning_state.dT_err = temp_model::data.dT_err_prev;
+        warning_state.dT_err = thermal_model::data.dT_err_prev;
     }
 }
 
@@ -2245,7 +2234,7 @@ static void handle_warning()
     }
 }
 
-#ifdef TEMP_MODEL_DEBUG
+#ifdef THERMAL_MODEL_DEBUG
 static void log_usr()
 {
     if(!log_buf.enabled) return;
@@ -2292,42 +2281,42 @@ static void log_isr()
 }
 #endif
 
-} // namespace temp_model
+} // namespace thermal_model
 
-static void temp_model_reset_enabled(bool enabled)
+static void thermal_model_reset_enabled(bool enabled)
 {
     TempMgrGuard temp_mgr_guard;
-    temp_model::enabled = enabled;
-    temp_model::reinitialize();
+    thermal_model::enabled = enabled;
+    thermal_model::reinitialize();
 }
 
-bool temp_model_enabled()
+bool thermal_model_enabled()
 {
-    return temp_model::enabled;
+    return thermal_model::enabled;
 }
 
-void temp_model_set_enabled(bool enabled)
+void thermal_model_set_enabled(bool enabled)
 {
     // set the enabled flag
     {
         TempMgrGuard temp_mgr_guard;
-        temp_model::enabled = enabled;
-        temp_model::setup();
+        thermal_model::enabled = enabled;
+        thermal_model::setup();
     }
 
     // verify that the model has been enabled
-    if(enabled && !temp_model::enabled)
+    if(enabled && !thermal_model::enabled)
         SERIAL_ECHOLNPGM("TM: invalid parameters, cannot enable");
 }
 
-void temp_model_set_warn_beep(bool enabled)
+void thermal_model_set_warn_beep(bool enabled)
 {
-    temp_model::warn_beep = enabled;
+    thermal_model::warn_beep = enabled;
 }
 
 // set the model lag rounding to the effective sample resolution, ensuring the reported/stored lag
 // matches the current model constraints (future-proofing for model changes)
-static void temp_model_set_lag(uint16_t ms)
+static void thermal_model_set_lag(uint16_t ms)
 {
     static const uint16_t intv_ms = (uint16_t)(TEMP_MGR_INTV * 1000);
     uint16_t samples = ((ms + intv_ms/2) / intv_ms);
@@ -2335,128 +2324,128 @@ static void temp_model_set_lag(uint16_t ms)
     // ensure we do not exceed the maximum lag buffer and have at least one lag sample for filtering
     if(samples < 1)
         samples = 1;
-    else if(samples > TEMP_MODEL_MAX_LAG_SIZE)
-        samples = TEMP_MODEL_MAX_LAG_SIZE;
+    else if(samples > THERMAL_MODEL_MAX_LAG_SIZE)
+        samples = THERMAL_MODEL_MAX_LAG_SIZE;
 
     // round back to ms
-    temp_model::data.L = samples * intv_ms;
+    thermal_model::data.L = samples * intv_ms;
 }
 
-void temp_model_set_params(float P, float U, float V, float C, float D, int16_t L, float Ta_corr, float warn, float err)
+void thermal_model_set_params(float P, float U, float V, float C, float D, int16_t L, float Ta_corr, float warn, float err)
 {
     TempMgrGuard temp_mgr_guard;
 
-    if(!isnan(P) && P > 0) temp_model::data.P = P;
-    if(!isnan(U)) temp_model::data.U = U;
-    if(!isnan(V)) temp_model::data.V = V;
-    if(!isnan(C) && C > 0) temp_model::data.C = C;
-    if(!isnan(D)) temp_model::data.fS = D;
-    if(L >= 0) temp_model_set_lag(L);
-    if(!isnan(Ta_corr)) temp_model::data.Ta_corr = Ta_corr;
-    if(!isnan(warn) && warn > 0) temp_model::data.warn = warn;
-    if(!isnan(err) && err > 0) temp_model::data.err = err;
+    if(!isnan(P) && P > 0) thermal_model::data.P = P;
+    if(!isnan(U)) thermal_model::data.U = U;
+    if(!isnan(V)) thermal_model::data.V = V;
+    if(!isnan(C) && C > 0) thermal_model::data.C = C;
+    if(!isnan(D)) thermal_model::data.fS = D;
+    if(L >= 0) thermal_model_set_lag(L);
+    if(!isnan(Ta_corr)) thermal_model::data.Ta_corr = Ta_corr;
+    if(!isnan(warn) && warn > 0) thermal_model::data.warn = warn;
+    if(!isnan(err) && err > 0) thermal_model::data.err = err;
 
     // ensure warn <= err
-    if (temp_model::data.warn > temp_model::data.err)
-        temp_model::data.warn = temp_model::data.err;
+    if (thermal_model::data.warn > thermal_model::data.err)
+        thermal_model::data.warn = thermal_model::data.err;
 
-    temp_model::setup();
+    thermal_model::setup();
 }
 
-void temp_model_set_resistance(uint8_t index, float R)
+void thermal_model_set_resistance(uint8_t index, float R)
 {
-    if(index >= TEMP_MODEL_R_SIZE || R <= 0)
+    if(index >= THERMAL_MODEL_R_SIZE || R <= 0)
         return;
 
     TempMgrGuard temp_mgr_guard;
-    temp_model::data.R[index] = R;
-    temp_model::setup();
+    thermal_model::data.R[index] = R;
+    thermal_model::setup();
 }
 
-void temp_model_report_settings()
+void thermal_model_report_settings()
 {
     SERIAL_ECHO_START;
-    SERIAL_ECHOLNPGM("Temperature Model settings:");
-    for(uint8_t i = 0; i != TEMP_MODEL_R_SIZE; ++i)
-        printf_P(PSTR("%S  M310 I%u R%.2f\n"), echomagic, (unsigned)i, (double)temp_model::data.R[i]);
+    SERIAL_ECHOLNPGM("Thermal Model settings:");
+    for(uint8_t i = 0; i != THERMAL_MODEL_R_SIZE; ++i)
+        printf_P(PSTR("%S  M310 I%u R%.2f\n"), echomagic, (unsigned)i, (double)thermal_model::data.R[i]);
     printf_P(PSTR("%S  M310 P%.2f U%.4f V%.2f C%.2f D%.4f L%u S%u B%u E%.2f W%.2f T%.2f\n"),
-        echomagic, (double)temp_model::data.P, (double)temp_model::data.U, (double)temp_model::data.V,
-        (double)temp_model::data.C, (double)temp_model::data.fS, (unsigned)temp_model::data.L,
-        (unsigned)temp_model::enabled, (unsigned)temp_model::warn_beep,
-        (double)temp_model::data.err, (double)temp_model::data.warn,
-        (double)temp_model::data.Ta_corr);
+        echomagic, (double)thermal_model::data.P, (double)thermal_model::data.U, (double)thermal_model::data.V,
+        (double)thermal_model::data.C, (double)thermal_model::data.fS, (unsigned)thermal_model::data.L,
+        (unsigned)thermal_model::enabled, (unsigned)thermal_model::warn_beep,
+        (double)thermal_model::data.err, (double)thermal_model::data.warn,
+        (double)thermal_model::data.Ta_corr);
 }
 
-void temp_model_reset_settings()
+void thermal_model_reset_settings()
 {
     TempMgrGuard temp_mgr_guard;
 
-    temp_model::data.P = TEMP_MODEL_DEF(P);
-    temp_model::data.U = TEMP_MODEL_DEF(U);
-    temp_model::data.V = TEMP_MODEL_DEF(V);
-    temp_model::data.C = TEMP_MODEL_DEF(C);
-    temp_model::data.fS = TEMP_MODEL_DEF(fS);
-    temp_model::data.L = (uint16_t)(TEMP_MODEL_DEF(LAG) / (TEMP_MGR_INTV * 1000) + 0.5) * (uint16_t)(TEMP_MGR_INTV * 1000);
-    for(uint8_t i = 0; i != TEMP_MODEL_R_SIZE; ++i)
-        temp_model::data.R[i] = pgm_read_float(TEMP_MODEL_R_DEFAULT + i);
-    temp_model::data.Ta_corr = TEMP_MODEL_Ta_corr;
-    temp_model::data.warn = TEMP_MODEL_DEF(W);
-    temp_model::data.err = TEMP_MODEL_DEF(E);
-    temp_model::warn_beep = true;
-    temp_model::enabled = true;
-    temp_model::reinitialize();
+    thermal_model::data.P = THERMAL_MODEL_DEF(P);
+    thermal_model::data.U = THERMAL_MODEL_DEF(U);
+    thermal_model::data.V = THERMAL_MODEL_DEF(V);
+    thermal_model::data.C = THERMAL_MODEL_DEF(C);
+    thermal_model::data.fS = THERMAL_MODEL_DEF(fS);
+    thermal_model::data.L = (uint16_t)(THERMAL_MODEL_DEF(LAG) / (TEMP_MGR_INTV * 1000) + 0.5) * (uint16_t)(TEMP_MGR_INTV * 1000);
+    for(uint8_t i = 0; i != THERMAL_MODEL_R_SIZE; ++i)
+        thermal_model::data.R[i] = pgm_read_float(THERMAL_MODEL_R_DEFAULT + i);
+    thermal_model::data.Ta_corr = THERMAL_MODEL_Ta_corr;
+    thermal_model::data.warn = THERMAL_MODEL_DEF(W);
+    thermal_model::data.err = THERMAL_MODEL_DEF(E);
+    thermal_model::warn_beep = true;
+    thermal_model::enabled = true;
+    thermal_model::reinitialize();
 }
 
-void temp_model_load_settings()
+void thermal_model_load_settings()
 {
-    static_assert(TEMP_MODEL_R_SIZE == 16); // ensure we don't desync with the eeprom table
+    static_assert(THERMAL_MODEL_R_SIZE == 16); // ensure we don't desync with the eeprom table
     TempMgrGuard temp_mgr_guard;
 
     // handle upgrade from a model without UVDL (FW<3.13, TM VER<1): model is retro-compatible,
     // reset UV to an identity without doing any special handling
-    eeprom_init_default_float((float*)EEPROM_TEMP_MODEL_U, TEMP_MODEL_DEF(U));
-    eeprom_init_default_float((float*)EEPROM_TEMP_MODEL_V, TEMP_MODEL_DEF(V));
-    eeprom_init_default_float((float*)EEPROM_TEMP_MODEL_D, TEMP_MODEL_DEF(fS));
-    eeprom_init_default_word((uint16_t*)EEPROM_TEMP_MODEL_L, TEMP_MODEL_DEF(LAG));
-    eeprom_init_default_byte((uint8_t*)EEPROM_TEMP_MODEL_VER, TEMP_MODEL_DEF(VER));
+    eeprom_init_default_float((float*)EEPROM_THERMAL_MODEL_U, THERMAL_MODEL_DEF(U));
+    eeprom_init_default_float((float*)EEPROM_THERMAL_MODEL_V, THERMAL_MODEL_DEF(V));
+    eeprom_init_default_float((float*)EEPROM_THERMAL_MODEL_D, THERMAL_MODEL_DEF(fS));
+    eeprom_init_default_word((uint16_t*)EEPROM_THERMAL_MODEL_L, THERMAL_MODEL_DEF(LAG));
+    eeprom_init_default_byte((uint8_t*)EEPROM_THERMAL_MODEL_VER, THERMAL_MODEL_DEF(VER));
 
-    temp_model::enabled = eeprom_read_byte((uint8_t*)EEPROM_TEMP_MODEL_ENABLE);
-    temp_model::data.P = eeprom_read_float((float*)EEPROM_TEMP_MODEL_P);
-    temp_model::data.U = eeprom_read_float((float*)EEPROM_TEMP_MODEL_U);
-    temp_model::data.V = eeprom_read_float((float*)EEPROM_TEMP_MODEL_V);
-    temp_model::data.C = eeprom_read_float((float*)EEPROM_TEMP_MODEL_C);
-    temp_model::data.fS = eeprom_read_float((float*)EEPROM_TEMP_MODEL_D);
-    temp_model_set_lag(eeprom_read_word((uint16_t*)EEPROM_TEMP_MODEL_L));
-    for(uint8_t i = 0; i != TEMP_MODEL_R_SIZE; ++i)
-        temp_model::data.R[i] = eeprom_read_float((float*)EEPROM_TEMP_MODEL_R + i);
-    temp_model::data.Ta_corr = eeprom_read_float((float*)EEPROM_TEMP_MODEL_Ta_corr);
-    temp_model::data.warn = eeprom_read_float((float*)EEPROM_TEMP_MODEL_W);
-    temp_model::data.err = eeprom_read_float((float*)EEPROM_TEMP_MODEL_E);
+    thermal_model::enabled = eeprom_read_byte((uint8_t*)EEPROM_THERMAL_MODEL_ENABLE);
+    thermal_model::data.P = eeprom_read_float((float*)EEPROM_THERMAL_MODEL_P);
+    thermal_model::data.U = eeprom_read_float((float*)EEPROM_THERMAL_MODEL_U);
+    thermal_model::data.V = eeprom_read_float((float*)EEPROM_THERMAL_MODEL_V);
+    thermal_model::data.C = eeprom_read_float((float*)EEPROM_THERMAL_MODEL_C);
+    thermal_model::data.fS = eeprom_read_float((float*)EEPROM_THERMAL_MODEL_D);
+    thermal_model_set_lag(eeprom_read_word((uint16_t*)EEPROM_THERMAL_MODEL_L));
+    for(uint8_t i = 0; i != THERMAL_MODEL_R_SIZE; ++i)
+        thermal_model::data.R[i] = eeprom_read_float((float*)EEPROM_THERMAL_MODEL_R + i);
+    thermal_model::data.Ta_corr = eeprom_read_float((float*)EEPROM_THERMAL_MODEL_Ta_corr);
+    thermal_model::data.warn = eeprom_read_float((float*)EEPROM_THERMAL_MODEL_W);
+    thermal_model::data.err = eeprom_read_float((float*)EEPROM_THERMAL_MODEL_E);
 
-    if(!temp_model::calibrated()) {
+    if(!thermal_model::calibrated()) {
         SERIAL_ECHOLNPGM("TM: stored calibration invalid, resetting");
-        temp_model_reset_settings();
+        thermal_model_reset_settings();
     }
-    temp_model::setup();
+    thermal_model::setup();
 }
 
-void temp_model_save_settings()
+void thermal_model_save_settings()
 {
-    eeprom_update_byte((uint8_t*)EEPROM_TEMP_MODEL_ENABLE, temp_model::enabled);
-    eeprom_update_float((float*)EEPROM_TEMP_MODEL_P, temp_model::data.P);
-    eeprom_update_float((float*)EEPROM_TEMP_MODEL_U, temp_model::data.U);
-    eeprom_update_float((float*)EEPROM_TEMP_MODEL_V, temp_model::data.V);
-    eeprom_update_float((float*)EEPROM_TEMP_MODEL_C, temp_model::data.C);
-    eeprom_update_float((float*)EEPROM_TEMP_MODEL_D, temp_model::data.fS);
-    eeprom_update_word((uint16_t*)EEPROM_TEMP_MODEL_L, temp_model::data.L);
-    for(uint8_t i = 0; i != TEMP_MODEL_R_SIZE; ++i)
-        eeprom_update_float((float*)EEPROM_TEMP_MODEL_R + i, temp_model::data.R[i]);
-    eeprom_update_float((float*)EEPROM_TEMP_MODEL_Ta_corr, temp_model::data.Ta_corr);
-    eeprom_update_float((float*)EEPROM_TEMP_MODEL_W, temp_model::data.warn);
-    eeprom_update_float((float*)EEPROM_TEMP_MODEL_E, temp_model::data.err);
+    eeprom_update_byte((uint8_t*)EEPROM_THERMAL_MODEL_ENABLE, thermal_model::enabled);
+    eeprom_update_float((float*)EEPROM_THERMAL_MODEL_P, thermal_model::data.P);
+    eeprom_update_float((float*)EEPROM_THERMAL_MODEL_U, thermal_model::data.U);
+    eeprom_update_float((float*)EEPROM_THERMAL_MODEL_V, thermal_model::data.V);
+    eeprom_update_float((float*)EEPROM_THERMAL_MODEL_C, thermal_model::data.C);
+    eeprom_update_float((float*)EEPROM_THERMAL_MODEL_D, thermal_model::data.fS);
+    eeprom_update_word((uint16_t*)EEPROM_THERMAL_MODEL_L, thermal_model::data.L);
+    for(uint8_t i = 0; i != THERMAL_MODEL_R_SIZE; ++i)
+        eeprom_update_float((float*)EEPROM_THERMAL_MODEL_R + i, thermal_model::data.R[i]);
+    eeprom_update_float((float*)EEPROM_THERMAL_MODEL_Ta_corr, thermal_model::data.Ta_corr);
+    eeprom_update_float((float*)EEPROM_THERMAL_MODEL_W, thermal_model::data.warn);
+    eeprom_update_float((float*)EEPROM_THERMAL_MODEL_E, thermal_model::data.err);
 }
 
-namespace temp_model_cal {
+namespace thermal_model_cal {
 
 // set current fan speed for both front/backend
 static __attribute__((noinline)) void set_fan_speed(uint8_t fan_speed)
@@ -2502,7 +2491,7 @@ static void cooldown(float temp)
     set_fan_speed(255);
     while(current_temperature[0] >= temp) {
         if(temp_error_state.v) break;
-        float ambient = current_temperature_ambient + temp_model::data.Ta_corr;
+        float ambient = current_temperature_ambient + thermal_model::data.Ta_corr;
         if(current_temperature[0] < (ambient + TEMP_HYSTERESIS)) {
             // do not get stuck waiting very close to ambient temperature
             break;
@@ -2550,12 +2539,12 @@ static uint16_t record(uint16_t samples = REC_BUFFER_SIZE) {
 static float cost_fn(uint16_t samples, float* const var, float v, uint8_t fan_pwm, float ambient)
 {
     *var = v;
-    temp_model::data.reset(rec_buffer[0].pwm, fan_pwm, rec_buffer[0].temp, ambient);
+    thermal_model::data.reset(rec_buffer[0].pwm, fan_pwm, rec_buffer[0].temp, ambient);
     float err = 0;
     uint16_t cnt = 0;
     for(uint16_t i = 1; i < samples; ++i) {
-        temp_model::data.step(rec_buffer[i].pwm, fan_pwm, rec_buffer[i].temp, ambient);
-        float err_v = temp_model::data.dT_err_prev;
+        thermal_model::data.step(rec_buffer[i].pwm, fan_pwm, rec_buffer[i].temp, ambient);
+        float err_v = thermal_model::data.dT_err_prev;
         if(!isnan(err_v)) {
             err += err_v * err_v;
             ++cnt;
@@ -2580,8 +2569,8 @@ static float estimate(uint16_t samples,
 {
     // during estimation we alter the model values without an extra copy to conserve memory
     // so we cannot keep the main checker active until a value has been found
-    bool was_enabled = temp_model::enabled;
-    temp_model_reset_enabled(false);
+    bool was_enabled = thermal_model::enabled;
+    thermal_model_reset_enabled(false);
 
     float orig = *var;
     float e = NAN;
@@ -2606,14 +2595,14 @@ static float estimate(uint16_t samples,
             }
 
             *var = x;
-            temp_model_reset_enabled(was_enabled);
+            thermal_model_reset_enabled(was_enabled);
             return e;
         }
     }
 
     SERIAL_ECHOLNPGM("TM estimation did not converge");
     *var = orig;
-    temp_model_reset_enabled(was_enabled);
+    thermal_model_reset_enabled(was_enabled);
     return NAN;
 }
 
@@ -2629,10 +2618,10 @@ static bool autotune(int16_t cal_temp)
     for(uint8_t i = 0; i != 2; ++i) {
         const char* PROGMEM verb = (i == 0? PSTR("initial"): PSTR("refine"));
         target_temperature[0] = 0;
-        if(current_temperature[0] >= TEMP_MODEL_CAL_T_low) {
-            sprintf_P(tm_message, PSTR("TM: cool down <%dC"), TEMP_MODEL_CAL_T_low);
+        if(current_temperature[0] >= THERMAL_MODEL_CAL_T_low) {
+            sprintf_P(tm_message, PSTR("TM: cool down <%dC"), THERMAL_MODEL_CAL_T_low);
             lcd_setstatus_serial(tm_message);
-            cooldown(TEMP_MODEL_CAL_T_low);
+            cooldown(THERMAL_MODEL_CAL_T_low);
             wait(10000);
         }
 
@@ -2644,12 +2633,12 @@ static bool autotune(int16_t cal_temp)
             return true;
 
         // we need a high R value for the initial C guess
-        if(isnan(temp_model::data.R[0]))
-            temp_model::data.R[0] = TEMP_MODEL_CAL_R_high;
+        if(isnan(thermal_model::data.R[0]))
+            thermal_model::data.R[0] = THERMAL_MODEL_CAL_R_high;
 
-        e = estimate(samples, &temp_model::data.C,
-            TEMP_MODEL_CAL_C_low, TEMP_MODEL_CAL_C_high,
-            TEMP_MODEL_CAL_C_thr, TEMP_MODEL_CAL_C_itr,
+        e = estimate(samples, &thermal_model::data.C,
+            THERMAL_MODEL_CAL_C_low, THERMAL_MODEL_CAL_C_high,
+            THERMAL_MODEL_CAL_C_thr, THERMAL_MODEL_CAL_C_itr,
             0, current_temperature_ambient);
         if(isnan(e))
             return true;
@@ -2664,9 +2653,9 @@ static bool autotune(int16_t cal_temp)
         if(temp_error_state.v || !samples)
             return true;
 
-        e = estimate(samples, &temp_model::data.R[0],
-            TEMP_MODEL_CAL_R_low, TEMP_MODEL_CAL_R_high,
-            TEMP_MODEL_CAL_R_thr, TEMP_MODEL_CAL_R_itr,
+        e = estimate(samples, &thermal_model::data.R[0],
+            THERMAL_MODEL_CAL_R_low, THERMAL_MODEL_CAL_R_high,
+            THERMAL_MODEL_CAL_R_thr, THERMAL_MODEL_CAL_R_itr,
             0, current_temperature_ambient);
         if(isnan(e))
             return true;
@@ -2679,12 +2668,12 @@ static bool autotune(int16_t cal_temp)
     set_fan_speed(255);
     wait(30000);
 
-    for(int8_t i = TEMP_MODEL_R_SIZE - 1; i > 0; i -= TEMP_MODEL_CAL_R_STEP) {
+    for(int8_t i = THERMAL_MODEL_R_SIZE - 1; i > 0; i -= THERMAL_MODEL_CAL_R_STEP) {
         // always disable the checker while estimating fan resistance as the difference
         // (esp with 3rd-party blowers) can be massive
-        temp_model::data.R[i] = NAN;
+        thermal_model::data.R[i] = NAN;
 
-        uint8_t speed = 256 / TEMP_MODEL_R_SIZE * (i + 1) - 1;
+        uint8_t speed = 256 / THERMAL_MODEL_R_SIZE * (i + 1) - 1;
         set_fan_speed(speed);
         wait(10000);
 
@@ -2696,8 +2685,8 @@ static bool autotune(int16_t cal_temp)
 
         // a fixed fan pwm (the norminal value) is used here, as soft_pwm_fan will be modified
         // during fan measurements and we'd like to include that skew during normal operation.
-        e = estimate(samples, &temp_model::data.R[i],
-            TEMP_MODEL_CAL_R_low, temp_model::data.R[0], TEMP_MODEL_CAL_R_thr, TEMP_MODEL_CAL_R_itr,
+        e = estimate(samples, &thermal_model::data.R[i],
+            THERMAL_MODEL_CAL_R_low, thermal_model::data.R[0], THERMAL_MODEL_CAL_R_thr, THERMAL_MODEL_CAL_R_itr,
             i, current_temperature_ambient);
         if(isnan(e))
             return true;
@@ -2705,34 +2694,34 @@ static bool autotune(int16_t cal_temp)
 
     // interpolate remaining steps to speed-up calibration
     // TODO: verify that the sampled values are monotically increasing?
-    int8_t next = TEMP_MODEL_R_SIZE - 1;
-    for(uint8_t i = TEMP_MODEL_R_SIZE - 2; i != 0; --i) {
-        if(!((TEMP_MODEL_R_SIZE - i - 1) % TEMP_MODEL_CAL_R_STEP)) {
+    int8_t next = THERMAL_MODEL_R_SIZE - 1;
+    for(uint8_t i = THERMAL_MODEL_R_SIZE - 2; i != 0; --i) {
+        if(!((THERMAL_MODEL_R_SIZE - i - 1) % THERMAL_MODEL_CAL_R_STEP)) {
             next = i;
             continue;
         }
-        int8_t prev = next - TEMP_MODEL_CAL_R_STEP;
+        int8_t prev = next - THERMAL_MODEL_CAL_R_STEP;
         if(prev < 0) prev = 0;
-        float f = (float)(i - prev) / TEMP_MODEL_CAL_R_STEP;
-        float d = (temp_model::data.R[next] - temp_model::data.R[prev]);
-        temp_model::data.R[i] = temp_model::data.R[prev] + d * f;
+        float f = (float)(i - prev) / THERMAL_MODEL_CAL_R_STEP;
+        float d = (thermal_model::data.R[next] - thermal_model::data.R[prev]);
+        thermal_model::data.R[i] = thermal_model::data.R[prev] + d * f;
     }
 
     return false;
 }
 
-} // namespace temp_model_cal
+} // namespace thermal_model_cal
 
-static bool temp_model_autotune_err = true;
+static bool thermal_model_autotune_err = true;
 
-void temp_model_autotune(int16_t temp, bool selftest)
+void thermal_model_autotune(int16_t temp, bool selftest)
 {
-    float orig_C, orig_R[TEMP_MODEL_R_SIZE];
+    float orig_C, orig_R[THERMAL_MODEL_R_SIZE];
     bool orig_enabled;
-    static_assert(sizeof(orig_R) == sizeof(temp_model::data.R));
+    static_assert(sizeof(orig_R) == sizeof(thermal_model::data.R));
 
     // fail-safe error state
-    temp_model_autotune_err = true;
+    thermal_model_autotune_err = true;
 
     char tm_message[LCD_WIDTH+1];
     if(moves_planned() || printer_active()) {
@@ -2743,60 +2732,60 @@ void temp_model_autotune(int16_t temp, bool selftest)
 
     // lockout the printer during calibration
     KEEPALIVE_STATE(IN_PROCESS);
-    menu_set_block(MENU_BLOCK_TEMP_MODEL_AUTOTUNE);
+    menu_set_block(MENU_BLOCK_THERMAL_MODEL_AUTOTUNE);
     lcd_return_to_status();
 
     // save the original model data and set the model checking state during self-calibration
-    orig_C = temp_model::data.C;
-    memcpy(orig_R, temp_model::data.R, sizeof(temp_model::data.R));
-    orig_enabled = temp_model::enabled;
-    temp_model_reset_enabled(selftest);
+    orig_C = thermal_model::data.C;
+    memcpy(orig_R, thermal_model::data.R, sizeof(thermal_model::data.R));
+    orig_enabled = thermal_model::enabled;
+    thermal_model_reset_enabled(selftest);
 
     // autotune
     SERIAL_ECHOLNPGM("TM: calibration start");
-    temp_model_autotune_err = temp_model_cal::autotune(temp > 0 ? temp : TEMP_MODEL_CAL_T_high);
+    thermal_model_autotune_err = thermal_model_cal::autotune(temp > 0 ? temp : THERMAL_MODEL_CAL_T_high);
 
     // always reset temperature
     disable_heater();
 
-    if(temp_model_autotune_err) {
+    if(thermal_model_autotune_err) {
         sprintf_P(tm_message, PSTR("TM: calibr. failed!"));
         lcd_setstatus_serial(tm_message);
         if(temp_error_state.v)
-            temp_model_cal::set_fan_speed(255);
+            thermal_model_cal::set_fan_speed(255);
 
         // show calibrated values before overwriting them
-        temp_model_report_settings();
+        thermal_model_report_settings();
 
         // restore original state
-        temp_model::data.C = orig_C;
-        memcpy(temp_model::data.R, orig_R, sizeof(temp_model::data.R));
-        temp_model_set_enabled(orig_enabled);
+        thermal_model::data.C = orig_C;
+        memcpy(thermal_model::data.R, orig_R, sizeof(thermal_model::data.R));
+        thermal_model_set_enabled(orig_enabled);
     } else {
-        calibration_status_set(CALIBRATION_STATUS_TEMP_MODEL);
+        calibration_status_set(CALIBRATION_STATUS_THERMAL_MODEL);
         lcd_setstatuspgm(MSG_WELCOME);
-        temp_model_cal::set_fan_speed(0);
-        temp_model_set_enabled(orig_enabled);
-        temp_model_report_settings();
+        thermal_model_cal::set_fan_speed(0);
+        thermal_model_set_enabled(orig_enabled);
+        thermal_model_report_settings();
     }
 
     lcd_consume_click();
-    menu_unset_block(MENU_BLOCK_TEMP_MODEL_AUTOTUNE);
+    menu_unset_block(MENU_BLOCK_THERMAL_MODEL_AUTOTUNE);
 }
 
-bool temp_model_autotune_result()
+bool thermal_model_autotune_result()
 {
-    return !temp_model_autotune_err;
+    return !thermal_model_autotune_err;
 }
 
-#ifdef TEMP_MODEL_DEBUG
-void temp_model_log_enable(bool enable)
+#ifdef THERMAL_MODEL_DEBUG
+void thermal_model_log_enable(bool enable)
 {
     if(enable) {
         TempMgrGuard temp_mgr_guard;
-        temp_model::log_buf.entry.stamp = _millis();
+        thermal_model::log_buf.entry.stamp = _millis();
     }
-    temp_model::log_buf.enabled = enable;
+    thermal_model::log_buf.enabled = enable;
 }
 #endif
 #endif

Firmware/temperature.h

@@ -174,24 +174,24 @@ FORCE_INLINE void autotempShutdown(){
 
 void PID_autotune(float temp, int extruder, int ncycles);
 
-#ifdef TEMP_MODEL
-bool temp_model_enabled(); // return temperature model state
-void temp_model_set_enabled(bool enabled);
-void temp_model_set_warn_beep(bool enabled);
-void temp_model_set_params(float P=NAN, float U=NAN, float V=NAN, float C=NAN, float D=NAN,
+#ifdef THERMAL_MODEL
+bool thermal_model_enabled(); // return thermal model state
+void thermal_model_set_enabled(bool enabled);
+void thermal_model_set_warn_beep(bool enabled);
+void thermal_model_set_params(float P=NAN, float U=NAN, float V=NAN, float C=NAN, float D=NAN,
     int16_t L=-1, float Ta_corr=NAN, float warn=NAN, float err=NAN);
-void temp_model_set_resistance(uint8_t index, float R);
+void thermal_model_set_resistance(uint8_t index, float R);
 
-void temp_model_report_settings();
-void temp_model_reset_settings();
-void temp_model_load_settings();
-void temp_model_save_settings();
+void thermal_model_report_settings();
+void thermal_model_reset_settings();
+void thermal_model_load_settings();
+void thermal_model_save_settings();
 
-void temp_model_autotune(int16_t temp = 0, bool selftest = false);
-bool temp_model_autotune_result(); // return true if the last autotune was complete and successful
+void thermal_model_autotune(int16_t temp = 0, bool selftest = false);
+bool thermal_model_autotune_result(); // return true if the last autotune was complete and successful
 
-#ifdef TEMP_MODEL_DEBUG
-void temp_model_log_enable(bool enable);
+#ifdef THERMAL_MODEL_DEBUG
+void thermal_model_log_enable(bool enable);
 #endif
 #endif
 

Firmware/thermal_model.h

@@ -6,31 +6,31 @@
 #include "planner.h"
 
 // shortcuts to get model defaults
-#define __TEMP_MODEL_DEF(MODEL, VAR) TEMP_MODEL_##MODEL##_##VAR
-#define _TEMP_MODEL_DEF(MODEL, VAR)  __TEMP_MODEL_DEF(MODEL, VAR)
-#define TEMP_MODEL_DEF(VAR)          _TEMP_MODEL_DEF(TEMP_MODEL_DEFAULT, VAR)
+#define __THERMAL_MODEL_DEF(MODEL, VAR) THERMAL_MODEL_##MODEL##_##VAR
+#define _THERMAL_MODEL_DEF(MODEL, VAR)  __THERMAL_MODEL_DEF(MODEL, VAR)
+#define THERMAL_MODEL_DEF(VAR)          _THERMAL_MODEL_DEF(THERMAL_MODEL_DEFAULT, VAR)
 
-constexpr uint8_t TEMP_MODEL_CAL_S = 60;     // Maximum recording length during calibration (s)
-constexpr uint8_t TEMP_MODEL_CAL_R_STEP = 4; // Fan interpolation steps during calibration
-constexpr float TEMP_MODEL_fE = 0.05;        // error filter (1st-order IIR factor)
+constexpr uint8_t THERMAL_MODEL_CAL_S = 60;     // Maximum recording length during calibration (s)
+constexpr uint8_t THERMAL_MODEL_CAL_R_STEP = 4; // Fan interpolation steps during calibration
+constexpr float THERMAL_MODEL_fE = 0.05;        // error filter (1st-order IIR factor)
 
 // transport delay buffer size (samples)
-constexpr uint8_t TEMP_MODEL_MAX_LAG_SIZE = 8; // * TEMP_MGR_INTV = 2160
+constexpr uint8_t THERMAL_MODEL_MAX_LAG_SIZE = 8; // * TEMP_MGR_INTV = 2160
 
 // resistance values for all fan levels
-constexpr uint8_t TEMP_MODEL_R_SIZE = (1 << FAN_SOFT_PWM_BITS);
-static const float TEMP_MODEL_R_DEFAULT[TEMP_MODEL_R_SIZE] PROGMEM = TEMP_MODEL_DEF(Rv);
+constexpr uint8_t THERMAL_MODEL_R_SIZE = (1 << FAN_SOFT_PWM_BITS);
+static const float THERMAL_MODEL_R_DEFAULT[THERMAL_MODEL_R_SIZE] PROGMEM = THERMAL_MODEL_DEF(Rv);
 
-namespace temp_model {
+namespace thermal_model {
 
 struct model_data
 {
     // temporary buffers
-    float dT_lag_buf[TEMP_MODEL_MAX_LAG_SIZE]; // transport delay buffer
-    uint8_t dT_lag_size = 0;                   // transport delay buffer size
-    uint8_t dT_lag_idx = 0;                    // transport delay buffer index
-    float dT_err_prev = 0;                     // previous temperature delta error
-    float T_prev = 0;                          // last temperature extruder
+    float dT_lag_buf[THERMAL_MODEL_MAX_LAG_SIZE]; // transport delay buffer
+    uint8_t dT_lag_size = 0;                      // transport delay buffer size
+    uint8_t dT_lag_idx = 0;                       // transport delay buffer index
+    float dT_err_prev = 0;                        // previous temperature delta error
+    float T_prev = 0;                             // last temperature extruder
 
     // configurable parameters
     float P;                               // heater power (W)
@@ -39,7 +39,7 @@ struct model_data
     float C;                               // heatblock capacitance (J/K)
     float fS;                              // sim. 1st order IIR filter factor (f=100/27)
     uint16_t L;                            // sim. response lag (ms)
-    float R[TEMP_MODEL_R_SIZE];            // heatblock resistance for all fan levels (K/W)
+    float R[THERMAL_MODEL_R_SIZE];         // heatblock resistance for all fan levels (K/W)
     float Ta_corr;                         // ambient temperature correction (K)
 
     // thresholds
@@ -85,7 +85,7 @@ volatile static struct
 
 static void handle_warning(); // handle warnings from user context
 
-#ifdef TEMP_MODEL_DEBUG
+#ifdef THERMAL_MODEL_DEBUG
 static struct
 {
     volatile struct
@@ -106,9 +106,9 @@ static void log_usr(); // user log handler
 static void log_isr(); // isr log handler
 #endif
 
-} // namespace temp_model
+} // namespace thermal_model
 
-namespace temp_model_cal {
+namespace thermal_model_cal {
 
 // recording scratch buffer
 struct rec_entry
@@ -117,9 +117,9 @@ struct rec_entry
     uint8_t pwm; // heater PWM
 };
 
-constexpr uint16_t REC_BUFFER_SIZE = TEMP_MODEL_CAL_S / TEMP_MGR_INTV;
+constexpr uint16_t REC_BUFFER_SIZE = THERMAL_MODEL_CAL_S / TEMP_MGR_INTV;
 static rec_entry* const rec_buffer = (rec_entry*)block_buffer; // oh-hey, free memory!
 static_assert(sizeof(rec_entry[REC_BUFFER_SIZE]) <= sizeof(block_buffer),
     "recording length too long to fit within available buffer");
 
-} // namespace temp_model_cal
+} // namespace thermal_model_cal

Firmware/thermal_model/e3d_REVO.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#define THERMAL_MODEL_E3D_REVO_VER 1      // model parameters version
+
+#define THERMAL_MODEL_E3D_REVO_P 40.      // heater power (W)
+#define THERMAL_MODEL_E3D_REVO_U -0.0014  // linear temperature coefficient (W/K/power)
+#define THERMAL_MODEL_E3D_REVO_V 1.05     // linear temperature intercept (W/power)
+
+#define THERMAL_MODEL_E3D_REVO_C 8.77     // initial guess for heatblock capacitance (J/K)
+#define THERMAL_MODEL_E3D_REVO_R 25.3     // initial guess for heatblock resistance (K/W)
+
+#define THERMAL_MODEL_E3D_REVO_fS 0.15    // sim. 1st order IIR filter factor (f=100/27)
+#define THERMAL_MODEL_E3D_REVO_LAG 270    // sim. response lag (ms, 0-2160)
+
+#define THERMAL_MODEL_E3D_REVO_W 0.85     // Default warning threshold (K/s)
+#define THERMAL_MODEL_E3D_REVO_E 1.23     // Default error threshold (K/s)
+
+// fall-back resistance vector (R0-15)
+#define THERMAL_MODEL_E3D_REVO_Rv {THERMAL_MODEL_E3D_REVO_R, 23.9, 22.5, 19.6, 19.0, 18.3, 17.7, 17.1, 16.8, 16.5, 16.3, 16.0, 15.9, 15.7, 15.6, 15.4}

Firmware/thermal_model/e3d_REVO_HF_60W.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#define THERMAL_MODEL_E3D_REVO_HF_60W_VER 1      // model parameters version
+
+#define THERMAL_MODEL_E3D_REVO_HF_60W_P 60.      // heater power (W)
+#define THERMAL_MODEL_E3D_REVO_HF_60W_U -0.0014  // linear temperature coefficient (W/K/power)
+#define THERMAL_MODEL_E3D_REVO_HF_60W_V 1.05     // linear temperature intercept (W/power)
+
+#define THERMAL_MODEL_E3D_REVO_HF_60W_C 9.10     // initial guess for heatblock capacitance (J/K)
+#define THERMAL_MODEL_E3D_REVO_HF_60W_R 30.6     // initial guess for heatblock resistance (K/W)
+
+#define THERMAL_MODEL_E3D_REVO_HF_60W_fS 0.15    // sim. 1st order IIR filter factor (f=100/27)
+#define THERMAL_MODEL_E3D_REVO_HF_60W_LAG 270    // sim. response lag (ms, 0-2160)
+
+#define THERMAL_MODEL_E3D_REVO_HF_60W_W 0.85     // Default warning threshold (K/s)
+#define THERMAL_MODEL_E3D_REVO_HF_60W_E 1.23     // Default error threshold (K/s)
+
+// fall-back resistance vector (R0-15)
+#define THERMAL_MODEL_E3D_REVO_HF_60W_Rv {THERMAL_MODEL_E3D_REVO_HF_60W_R, 29.0, 27.5, 24.5, 23.4, 22.3, 21.2, 20.2, 19.8, 19.4, 19.0, 18.6, 18.3, 18.1, 17.9, 17.7}

Firmware/thermal_model/e3d_v6.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#define THERMAL_MODEL_E3D_V6_VER 1      // model parameters version
+
+#define THERMAL_MODEL_E3D_V6_P 38.      // heater power (W)
+#define THERMAL_MODEL_E3D_V6_U 0.       // linear temperature coefficient (W/K/power)
+#define THERMAL_MODEL_E3D_V6_V 1.       // linear temperature intercept (W/power)
+
+#define THERMAL_MODEL_E3D_V6_C 12.1     // initial guess for heatblock capacitance (J/K)
+#define THERMAL_MODEL_E3D_V6_R 20.5     // initial guess for heatblock resistance (K/W)
+
+#define THERMAL_MODEL_E3D_V6_fS 0.065   // sim. 1st order IIR filter factor (f=100/27)
+#define THERMAL_MODEL_E3D_V6_LAG 2100   // sim. response lag (ms, 0-2160)
+
+#define THERMAL_MODEL_E3D_V6_W 1.2      // Default warning threshold (K/s)
+#define THERMAL_MODEL_E3D_V6_E 1.74     // Default error threshold (K/s)
+
+// fall-back resistance vector (R0-15)
+#define THERMAL_MODEL_E3D_V6_Rv {THERMAL_MODEL_E3D_V6_R, 18.4, 16.7, 15.2, 14.1, 13.3, 12.7, 12.1, 11.7, 11.3, 11., 10.8, 10.6, 10.4, 10.2, 10.1}

Firmware/tmc2130.cpp

@@ -5,7 +5,6 @@
 #ifdef TMC2130
 
 #include "tmc2130.h"
-#include "ultralcd.h"
 #include "language.h"
 #include "spi.h"
 #include "Timer.h"
@@ -15,6 +14,19 @@
 #define TMC2130_GCONF_DYNAMIC_SGSENS 0x00000184 // stealthChop/spreadCycle (dynamic) with stallguard (stall activates DIAG0 and DIAG1 [open collector])
 #define TMC2130_GCONF_SILENT 0x00000004 // stealthChop
 
+#ifdef TMC2130_DEDGE_STEPPING
+static constexpr uint8_t default_dedge_bit = 1;
+#define _DO_STEP_X      TOGGLE(X_STEP_PIN)
+#define _DO_STEP_Y      TOGGLE(Y_STEP_PIN)
+#define _DO_STEP_Z      TOGGLE(Z_STEP_PIN)
+#define _DO_STEP_E      TOGGLE(E0_STEP_PIN)
+#else // !TMC2130_DEDGE_STEPPING
+static constexpr uint8_t default_dedge_bit = 0;
+#define _DO_STEP_X      { WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); }
+#define _DO_STEP_Y      { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); }
+#define _DO_STEP_Z      { WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); }
+#define _DO_STEP_E      { WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); }
+#endif // TMC2130_DEDGE_STEPPING
 
 //mode
 uint8_t tmc2130_mode = TMC2130_MODE_NORMAL;
@@ -25,19 +37,100 @@ uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
 //running currents for homing
 static uint8_t tmc2130_current_r_home[4] = TMC2130_CURRENTS_R_HOME;
 
+MotorCurrents currents[NUM_AXIS] = {
+	MotorCurrents(tmc2130_current_r[0], tmc2130_current_h[0]),
+	MotorCurrents(tmc2130_current_r[1], tmc2130_current_h[1]),
+	MotorCurrents(tmc2130_current_r[2], tmc2130_current_h[2]),
+	MotorCurrents(tmc2130_current_r[3], tmc2130_current_h[3])
+};
 
-//pwm_ampl
-static uint8_t tmc2130_pwm_ampl[4] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y, TMC2130_PWM_AMPL_Z, TMC2130_PWM_AMPL_E};
-//pwm_grad
-static uint8_t tmc2130_pwm_grad[4] = {TMC2130_PWM_GRAD_X, TMC2130_PWM_GRAD_Y, TMC2130_PWM_GRAD_Z, TMC2130_PWM_GRAD_E};
-//pwm_auto
-static uint8_t tmc2130_pwm_auto[4] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y, TMC2130_PWM_AUTO_Z, TMC2130_PWM_AUTO_E};
-//pwm_freq
-static uint8_t tmc2130_pwm_freq[4] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y, TMC2130_PWM_FREQ_Z, TMC2130_PWM_FREQ_E};
+union ChopConfU {
+	struct __attribute__((packed)) S {
+		uint32_t toff : 4;     // Off time and driver enable
+		uint32_t hstrt : 3;    // Hysteresis start value added to HEND
+		uint32_t hend : 4;     // HEND hysteresis low value (chm = 0) or OFFSET sine wave offset (chm = 1)
+		uint32_t fd : 1;
+		uint32_t disfdcc : 1;  // Fast decay mode
+		uint32_t rndtf : 1;    // Random TOFF time 
+		uint32_t chm : 1;      // Chopper mode
+		uint32_t tbl : 2;      // Blank time select
+		uint32_t vsense : 1;   // Sense resistor voltage based current scaling
+		uint32_t vhighfs : 1;  // High velocity fullstep selection
+		uint32_t vhighchm : 1; // High velocity chopper mode
+		uint32_t sync : 4;     // PWM synchronization clock
+		uint32_t mres : 4;     // Micro step resolution
+		uint32_t intpol : 1;   // Interpolation to 256 microsteps
+		uint32_t dedge : 1;    // Enable double edgestep pulses
+		uint32_t diss2g : 1;   // Short to GND protection disable
+		uint32_t reserved : 1; // Reserved, set to 0
+		constexpr S(bool vsense, uint8_t mres)
+			: toff(TMC2130_TOFF_XYZ)
+			, hstrt(5)
+			, hend(1)
+			, fd(0)
+			, disfdcc(0)
+			, rndtf(0)   // Chopper off time is fixed as set by TOFF
+			, chm(0)     // Standard mode (spreadCycle)
+			, tbl(2)
+			, vsense(vsense)
+			, vhighfs(0)
+			, vhighchm(0)
+			, sync(0)
+			, mres(mres)
+			, intpol(0)
+			, dedge(default_dedge_bit)
+			, diss2g(0)  // Short to GND protection is on
+			, reserved(0) {}
+	} s;
+	uint32_t dw;
+	constexpr ChopConfU(bool vsense, uint8_t mres)
+		: s(vsense, mres) {}
+};
+static_assert(sizeof(ChopConfU::S) == 4);
+static_assert(sizeof(ChopConfU) == 4);
+
+union PWMConfU {
+    struct __attribute__((packed)) S {
+        uint32_t pwm_ampl : 8; // User defined amplitude (offset)
+        uint32_t pwm_grad : 8; // User defined amplitude (gradient) or regulation loop gradient
+        uint32_t pwm_freq0 : 1; // PWM frequency selection
+        uint32_t pwm_freq1 : 1;
+        uint32_t pwm_autoscale : 1; // PWM automatic amplitude scaling
+        uint32_t pwm_symmetric : 1; // Currently always zero
+        uint32_t freewheel0 : 1; // Currently always zero
+        uint32_t freewheel1 : 1; // Currently always zero
+        uint32_t reserved : 10; // Set to zero
+    } s;
+    uint32_t dw;
+    constexpr PWMConfU(uint32_t val)
+            : dw(val) {}
+};
+static_assert(sizeof(PWMConfU::S) == 4);
+static_assert(sizeof(PWMConfU) == 4);
+
+/// Helper function to set bit shifts in one line
+constexpr uint32_t PWMCONF_REG(uint32_t PWM_AMPL, uint32_t PWM_GRAD, uint32_t PWM_FREQ, uint32_t PWM_AUTO)
+{
+    return uint32_t((PWM_AMPL << 0U) | (PWM_GRAD<< 8U) | (PWM_FREQ << 16U) | (PWM_AUTO << 18U));
+}
+
+static constexpr uint32_t PWM_AMPL[NUM_AXIS] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y, TMC2130_PWM_AMPL_Z, TMC2130_PWM_AMPL_E};
+static constexpr uint32_t PWM_GRAD[NUM_AXIS] = {TMC2130_PWM_GRAD_X, TMC2130_PWM_GRAD_Y, TMC2130_PWM_GRAD_Z, TMC2130_PWM_GRAD_E};
+static constexpr uint32_t PWM_FREQ[NUM_AXIS] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y, TMC2130_PWM_FREQ_Z, TMC2130_PWM_FREQ_E};
+static constexpr uint32_t PWM_AUTO[NUM_AXIS] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y, TMC2130_PWM_AUTO_Z, TMC2130_PWM_AUTO_E};
+
+static PWMConfU pwmconf[NUM_AXIS] = {
+    PWMConfU(PWMCONF_REG(PWM_AMPL[X_AXIS], PWM_GRAD[X_AXIS], PWM_FREQ[X_AXIS], PWM_AUTO[X_AXIS])),
+    PWMConfU(PWMCONF_REG(PWM_AMPL[Y_AXIS], PWM_GRAD[Y_AXIS], PWM_FREQ[Y_AXIS], PWM_AUTO[Y_AXIS])),
+    PWMConfU(PWMCONF_REG(PWM_AMPL[Z_AXIS], PWM_GRAD[Z_AXIS], PWM_FREQ[Z_AXIS], PWM_AUTO[Z_AXIS])),
+    PWMConfU(PWMCONF_REG(PWM_AMPL[E_AXIS], PWM_GRAD[E_AXIS], PWM_FREQ[E_AXIS], PWM_AUTO[E_AXIS]))
+};
+
+// E-axis PWMCONF setting when using E-cool mode. Can be disabled/enabled at run time.
+static constexpr PWMConfU pwmconf_Ecool = PWMConfU(PWMCONF_REG(TMC2130_PWM_AMPL_Ecool, TMC2130_PWM_GRAD_Ecool, PWM_FREQ[E_AXIS], TMC2130_PWM_AUTO_Ecool));
 
 uint8_t tmc2130_mres[4] = {0, 0, 0, 0}; //will be filed at begin of init
 
-
 uint8_t tmc2130_sg_thr[4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
 static uint8_t tmc2130_sg_thr_home[4] = TMC2130_SG_THRS_HOME;
 
@@ -57,11 +150,45 @@ uint8_t tmc2130_home_fsteps[2] = {48, 48};
 
 uint8_t tmc2130_wave_fac[4] = {0, 0, 0, 0};
 
-tmc2130_chopper_config_t tmc2130_chopper_config[4] = {
-	{TMC2130_TOFF_XYZ, 5, 1, 2, 0},
-	{TMC2130_TOFF_XYZ, 5, 1, 2, 0},
-	{TMC2130_TOFF_XYZ, 5, 1, 2, 0},
-	{TMC2130_TOFF_E, 5, 1, 2, 0}
+tmc2130_chopper_config_t tmc2130_chopper_config[NUM_AXIS] = {
+	{ // X axis
+		.toff = TMC2130_TOFF_XYZ,
+		.hstr = 5,
+		.hend = 1,
+		.tbl = 2,
+		.res = 0
+	},
+	{ // Y axis
+		.toff = TMC2130_TOFF_XYZ,
+		.hstr = 5,
+		.hend = 1,
+		.tbl = 2,
+		.res = 0
+	},
+	{ // Z axis
+		.toff = TMC2130_TOFF_XYZ,
+		.hstr = 5,
+		.hend = 1,
+		.tbl = 2,
+		.res = 0
+	},
+#ifdef TMC2130_CNSTOFF_E
+	{ // E axis
+		.toff = TMC2130_TOFF_E,
+		.hstr = 0,
+		.hend = 0,
+		.tbl = 2,
+		.res = 0
+	}
+#else // !TMC2130_CNSTOFF_E
+	{ // E axis
+		.toff = TMC2130_TOFF_E,
+		.hstr = 5,
+		.hend = 1,
+		.tbl = 2,
+		.res = 0
+	}
+#endif
 };
 
 bool tmc2130_sg_stop_on_crash = true;
@@ -112,25 +239,36 @@ static ShortTimer tmc2130_overtemp_timer;
 #define TMC2130_REG_ENCM_CTRL  0x72 // 2 bits
 #define TMC2130_REG_LOST_STEPS 0x73 // 20 bits
 
+#define _GET_PWR_X      (READ(X_ENABLE_PIN) == X_ENABLE_ON)
+#define _GET_PWR_Y      (READ(Y_ENABLE_PIN) == Y_ENABLE_ON)
+#define _GET_PWR_Z      (READ(Z_ENABLE_PIN) == Z_ENABLE_ON)
+#define _GET_PWR_E      (READ(E0_ENABLE_PIN) == E_ENABLE_ON)
+
+#define _SET_PWR_X(ena) WRITE(X_ENABLE_PIN, ena?X_ENABLE_ON:!X_ENABLE_ON)
+#define _SET_PWR_Y(ena) WRITE(Y_ENABLE_PIN, ena?Y_ENABLE_ON:!Y_ENABLE_ON)
+#define _SET_PWR_Z(ena) WRITE(Z_ENABLE_PIN, ena?Z_ENABLE_ON:!Z_ENABLE_ON)
+#define _SET_PWR_E(ena) WRITE(E0_ENABLE_PIN, ena?E_ENABLE_ON:!E_ENABLE_ON)
+
+#define _GET_DIR_X      (READ(X_DIR_PIN) == INVERT_X_DIR)
+#define _GET_DIR_Y      (READ(Y_DIR_PIN) == INVERT_Y_DIR)
+#define _GET_DIR_Z      (READ(Z_DIR_PIN) == INVERT_Z_DIR)
+#define _GET_DIR_E      (READ(E0_DIR_PIN) == INVERT_E0_DIR)
+
+#define _SET_DIR_X(dir) WRITE(X_DIR_PIN, dir?INVERT_X_DIR:!INVERT_X_DIR)
+#define _SET_DIR_Y(dir) WRITE(Y_DIR_PIN, dir?INVERT_Y_DIR:!INVERT_Y_DIR)
+#define _SET_DIR_Z(dir) WRITE(Z_DIR_PIN, dir?INVERT_Z_DIR:!INVERT_Z_DIR)
+#define _SET_DIR_E(dir) WRITE(E0_DIR_PIN, dir?INVERT_E0_DIR:!INVERT_E0_DIR)
 
 uint16_t tmc2130_rd_TSTEP(uint8_t axis);
 uint16_t tmc2130_rd_MSCNT(uint8_t axis);
 uint32_t tmc2130_rd_MSCURACT(uint8_t axis);
 
-void tmc2130_wr_CHOPCONF(uint8_t axis, uint8_t toff = 3, uint8_t hstrt = 4, uint8_t hend = 1, uint8_t fd3 = 0, uint8_t disfdcc = 0, uint8_t rndtf = 0, uint8_t chm = 0, uint8_t tbl = 2, uint8_t vsense = 0, uint8_t vhighfs = 0, uint8_t vhighchm = 0, uint8_t sync = 0, uint8_t mres = 0b0100, uint8_t intpol = 1, uint8_t dedge = 0, uint8_t diss2g = 0);
-void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel);
-void tmc2130_wr_TPWMTHRS(uint8_t axis, uint32_t val32);
-void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32);
-
 #define tmc2130_rd(axis, addr, rval) tmc2130_rx(axis, addr, rval)
 #define tmc2130_wr(axis, addr, wval) tmc2130_tx(axis, (addr) | 0x80, wval)
 
 static void tmc2130_tx(uint8_t axis, uint8_t addr, uint32_t wval);
 static uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval);
 
-
-void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r);
-
 uint16_t __tcoolthrs(uint8_t axis)
 {
 	switch (axis)
@@ -141,6 +279,31 @@ uint16_t __tcoolthrs(uint8_t axis)
 	}
 	return 0;
 }
+
+static void tmc2130_XYZ_reg_init(uint8_t axis)
+{
+	const bool isStealth = (tmc2130_mode == TMC2130_MODE_SILENT);
+	if (axis == Z_AXIS) {
+#ifdef TMC2130_STEALTH_Z
+		tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
+		tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, isStealth ? 0 : __tcoolthrs(axis));
+		tmc2130_wr(axis, TMC2130_REG_GCONF, isStealth ? TMC2130_GCONF_SILENT : TMC2130_GCONF_DYNAMIC_SGSENS);
+		tmc2130_wr(axis, TMC2130_REG_PWMCONF, pwmconf[axis].dw);
+		tmc2130_wr(axis, TMC2130_REG_TPWMTHRS, isStealth ? 0 : 0xFFFF0);
+#else // TMC2130_STEALTH_Z
+		tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
+#endif // TMC2130_STEALTH_Z
+	} else { // X Y
+		tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
+		tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, isStealth ? 0 : __tcoolthrs(axis));
+		tmc2130_wr(axis, TMC2130_REG_GCONF, isStealth ? TMC2130_GCONF_SILENT : TMC2130_GCONF_SGSENS);
+		tmc2130_wr(axis, TMC2130_REG_PWMCONF, pwmconf[axis].dw);
+		tmc2130_wr(axis, TMC2130_REG_TPWMTHRS, TMC2130_TPWMTHRS);
+	}
+	tmc2130_setup_chopper(axis, tmc2130_mres[axis]);
+	tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
+}
+
 void tmc2130_init(TMCInitParams params)
 {
 //	DBG(_n("tmc2130_init(), mode=%S\n"), tmc2130_mode?_n("STEALTH"):_n("NORMAL"));
@@ -162,54 +325,32 @@ void tmc2130_init(TMCInitParams params)
 	WRITE(Z_TMC2130_DIAG,HIGH);
 	WRITE(E0_TMC2130_DIAG,HIGH);
 	
-	for (uint_least8_t axis = 0; axis < 2; axis++) // X Y axes
+	for (uint_least8_t axis = 0; axis < E_AXIS; axis++) // X Y Z axes
 	{
-		tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
-		tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
-		tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
-		tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:__tcoolthrs(axis));
-		tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
-		tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
-		tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
-		//tmc2130_wr_THIGH(axis, TMC2130_THIGH);
+		tmc2130_XYZ_reg_init(axis);
 	}
-	for (uint_least8_t axis = 2; axis < 3; axis++) // Z axis
-	{
-		tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
-		tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
-#ifndef TMC2130_STEALTH_Z
-		tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
-#else //TMC2130_STEALTH_Z
-		tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
-		tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:__tcoolthrs(axis));
-		tmc2130_wr(axis, TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_DYNAMIC_SGSENS);
-		tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
-		tmc2130_wr_TPWMTHRS(axis, (tmc2130_mode == TMC2130_MODE_SILENT)?0:0xFFFF0);
-#endif //TMC2130_STEALTH_Z
-	}
-	for (uint_least8_t axis = 3; axis < 4; axis++) // E axis
-	{
-		tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
-		tmc2130_wr(axis, TMC2130_REG_TPOWERDOWN, 0x00000000);
+
+    // E axis
+    tmc2130_setup_chopper(E_AXIS, tmc2130_mres[E_AXIS]);
+    tmc2130_wr(E_AXIS, TMC2130_REG_TPOWERDOWN, 0x00000000);
 #ifndef TMC2130_STEALTH_E
-        if( ! params.enableECool ){
-            tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
-        } else {
-            tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
-            tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
-            tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT);
-            tmc2130_wr_PWMCONF(axis, TMC2130_PWM_AMPL_Ecool, TMC2130_PWM_GRAD_Ecool, tmc2130_pwm_freq[axis], TMC2130_PWM_AUTO_Ecool, 0, 0);
-            tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS_E);
-            SERIAL_ECHOLNRPGM(eMotorCurrentScalingEnabled);
-        }
+    if( ! params.enableECool ){
+        tmc2130_wr(E_AXIS, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
+    } else {
+        tmc2130_wr(E_AXIS, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[E_AXIS]) << 16));
+        tmc2130_wr(E_AXIS, TMC2130_REG_TCOOLTHRS, 0);
+        tmc2130_wr(E_AXIS, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT);
+        tmc2130_wr(E_AXIS, TMC2130_REG_PWMCONF, pwmconf_Ecool.dw);
+        tmc2130_wr(E_AXIS, TMC2130_REG_TPWMTHRS, TMC2130_TPWMTHRS_E);
+        SERIAL_ECHOLNRPGM(eMotorCurrentScalingEnabled);
+    }
 #else //TMC2130_STEALTH_E
-		tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16));
-		tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
-		tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT);
-		tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
-		tmc2130_wr_TPWMTHRS(axis, TMC2130_TPWMTHRS);
+    tmc2130_wr(E_AXIS, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[E_AXIS]) << 16));
+    tmc2130_wr(E_AXIS, TMC2130_REG_TCOOLTHRS, 0);
+    tmc2130_wr(E_AXIS, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT);
+    tmc2130_wr(E_AXIS, TMC2130_REG_PWMCONF, pwmconf[E_AXIS].dw);
+    tmc2130_wr(E_AXIS, TMC2130_REG_TPWMTHRS, TMC2130_TPWMTHRS);
 #endif //TMC2130_STEALTH_E
-	}
 
 #ifdef TMC2130_LINEARITY_CORRECTION
 #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
@@ -278,7 +419,8 @@ void tmc2130_home_enter(uint8_t axes_mask)
 			tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
 			tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr_home[axis]) << 16));
 			tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis));
-			tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r_home[axis]);
+			currents[axis].iRun = tmc2130_current_r_home[axis];
+			tmc2130_setup_chopper(axis, tmc2130_mres[axis]);
 			tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
 		}
 	}
@@ -289,32 +431,14 @@ void tmc2130_home_exit()
 {
 	printf_P(PSTR("tmc2130_home_exit tmc2130_sg_homing_axes_mask=0x%02x\n"), tmc2130_sg_homing_axes_mask);
 #ifdef TMC2130_SG_HOMING
-	if (tmc2130_sg_homing_axes_mask & 0x03) //X or Y
+	if (tmc2130_sg_homing_axes_mask & (X_AXIS_MASK | Y_AXIS_MASK))
 		tmc2130_wait_standstill_xy(1000);
 	if (tmc2130_sg_homing_axes_mask)
 	{
 		for (uint8_t axis = X_AXIS, mask = X_AXIS_MASK; axis <= Z_AXIS; axis++, mask <<= 1) //X Y and Z axes
 		{
-			if (tmc2130_sg_homing_axes_mask & mask)
-			{
-#ifndef TMC2130_STEALTH_Z
-				if ((tmc2130_mode == TMC2130_MODE_SILENT) && (axis != Z_AXIS))
-#else //TMC2130_STEALTH_Z
-				if (tmc2130_mode == TMC2130_MODE_SILENT)
-#endif //TMC2130_STEALTH_Z
-				{
-					tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop
-					tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, 0);
-//					tmc2130_wr_PWMCONF(i, tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0);
-				}
-				else
-				{
-//					tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
-					tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
-					tmc2130_wr(axis, TMC2130_REG_COOLCONF, (((uint32_t)tmc2130_sg_thr[axis]) << 16) | ((uint32_t)1 << 24));
-					tmc2130_wr(axis, TMC2130_REG_TCOOLTHRS, __tcoolthrs(axis));
-					tmc2130_wr(axis, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
-				}
+			if (tmc2130_sg_homing_axes_mask & mask) {
+				tmc2130_XYZ_reg_init(axis);
 			}
 		}
 		tmc2130_sg_homing_axes_mask = 0x00;
@@ -377,98 +501,100 @@ void tmc2130_check_overtemp()
 	}
 }
 
-void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r)
-{
-	uint8_t intpol = (mres != 0); // intpol to 256 only if microsteps aren't 256
-#ifdef TMC2130_DEDGE_STEPPING
-	uint8_t dedge = 1;
-#else
-	uint8_t dedge = 0;
-#endif
-	uint8_t toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz)
-	uint8_t hstrt = tmc2130_chopper_config[axis].hstr; //initial 4, modified to 5
-	uint8_t hend = tmc2130_chopper_config[axis].hend; //original value = 1
-	uint8_t fd3 = 0;
-	uint8_t rndtf = 0; //random off time
-	uint8_t chm = 0; //spreadCycle
-	uint8_t tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2
-	if (axis == E_AXIS)
-	{
+/// Helper function to determine the value of the CHOPCONF intpol flag
+static constexpr bool getIntpolBit([[maybe_unused]]const uint8_t axis, const uint8_t mres) {
 #if defined(TMC2130_INTPOL_E) && (TMC2130_INTPOL_E == 0)
-        intpol = 0;
+    if (axis == E_AXIS) return 0;
 #endif
-#ifdef TMC2130_CNSTOFF_E
-		// fd = 0 (slow decay only)
-		hstrt = 0; //fd0..2
-		fd3 = 0; //fd3
-		hend = 0; //sine wave offset
-		chm = 1; // constant off time mod
-#endif //TMC2130_CNSTOFF_E
-//		toff = TMC2130_TOFF_E; // toff = 3-5
-//		rndtf = 1;
-	}
 #if defined(TMC2130_INTPOL_XY) && (TMC2130_INTPOL_XY == 0)
-    else if (axis == X_AXIS || axis == Y_AXIS) {
-        intpol = 0;
-    }
+    if (axis == X_AXIS || axis == Y_AXIS) return 0;
 #endif
 #if defined(TMC2130_INTPOL_Z) && (TMC2130_INTPOL_Z == 0)
-    else if (axis == Z_AXIS) {
-        intpol = 0;
-    }
+    if (axis == Z_AXIS) return 0;
 #endif
-//	DBG(_n("tmc2130_setup_chopper(axis=%d, mres=%d, curh=%d, curr=%d\n"), axis, mres, current_h, current_r);
-//	DBG(_n(" toff=%d, hstr=%d, hend=%d, tbl=%d\n"), toff, hstrt, hend, tbl);
-	if (current_r <= 31)
-	{
-		tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 1, 0, 0, 0, mres, intpol, dedge, 0);
-		tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((current_r & 0x1f) << 8) | (current_h & 0x1f));
-	}
-	else
-	{
-		tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 0, 0, 0, 0, mres, intpol, dedge, 0);
-		tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((current_r >> 1) & 0x1f) << 8) | ((current_h >> 1) & 0x1f));
-	}
+
+    return (mres != 0); // intpol to 256 only if microsteps aren't 256
+}
+
+static void SetCurrents(const uint8_t axis) {
+    uint8_t iHold = currents[axis].iHold;
+    const uint8_t iRun = currents[axis].iRun;
+
+    union IHoldRun {
+        struct S {
+            uint8_t iHold;
+            uint8_t iRun;
+            uint16_t iHoldDelay;
+            constexpr S(uint8_t ih, uint8_t ir)
+                : iHold(ih)
+                , iRun(ir)
+                , iHoldDelay(15 & 0x0F) {}
+        } s;
+        uint32_t dw;
+        constexpr IHoldRun(uint8_t ih, uint8_t ir)
+            : s(ih, ir) {}
+    };
+
+    // also, make sure iHold never exceeds iRun at runtime
+    IHoldRun ihold_irun((iHold > iRun ? iRun : iHold) & 0x1f, iRun & 0x1f);
+
+    tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, ihold_irun.dw);
+}
+
+void tmc2130_setup_chopper(uint8_t axis, uint8_t mres)
+{
+	// Update the currents, this will re-calculate the Vsense flag
+	currents[axis] = MotorCurrents(currents[axis].iRun, currents[axis].iHold);
+
+	// Initialise the chopper configuration
+	ChopConfU chopconf = ChopConfU(currents[axis].vSense, mres);
+
+	chopconf.s.intpol = getIntpolBit(axis, mres);
+	chopconf.s.toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz)
+	chopconf.s.hstrt = tmc2130_chopper_config[axis].hstr; // initial 4, modified to 5
+	chopconf.s.hend = tmc2130_chopper_config[axis].hend; // original value = 1
+	chopconf.s.tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2
+
+	tmc2130_wr(axis, TMC2130_REG_CHOPCONF, chopconf.dw);
+	SetCurrents(axis);
 }
 
 void tmc2130_set_current_h(uint8_t axis, uint8_t current)
 {
 //	DBG(_n("tmc2130_set_current_h(axis=%d, current=%d\n"), axis, current);
-	tmc2130_current_h[axis] = current;
-	tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
+	currents[axis].iHold = current;
+	tmc2130_setup_chopper(axis, tmc2130_mres[axis]);
 }
 
 void tmc2130_set_current_r(uint8_t axis, uint8_t current)
 {
 //	DBG(_n("tmc2130_set_current_r(axis=%d, current=%d\n"), axis, current);
-	tmc2130_current_r[axis] = current;
-	tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
+	currents[axis].iRun = current;
+	tmc2130_setup_chopper(axis, tmc2130_mres[axis]);
 }
 
 void tmc2130_print_currents()
 {
 	printf_P(_n("tmc2130_print_currents()\n\tH\tR\nX\t%d\t%d\nY\t%d\t%d\nZ\t%d\t%d\nE\t%d\t%d\n"),
-		tmc2130_current_h[0], tmc2130_current_r[0],
-		tmc2130_current_h[1], tmc2130_current_r[1],
-		tmc2130_current_h[2], tmc2130_current_r[2],
-		tmc2130_current_h[3], tmc2130_current_r[3]
+		currents[0].iHold, currents[0].iRun,
+		currents[1].iHold, currents[1].iRun,
+		currents[2].iHold, currents[2].iRun,
+		currents[3].iHold, currents[3].iRun
 	);
 }
 
 void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl)
 {
-//	DBG(_n("tmc2130_set_pwm_ampl(axis=%d, pwm_ampl=%d\n"), axis, pwm_ampl);
-	tmc2130_pwm_ampl[axis] = pwm_ampl;
-	if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
-		tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
+    pwmconf[axis].s.pwm_ampl = pwm_ampl;
+    if (((axis == X_AXIS) || (axis == Y_AXIS)) && (tmc2130_mode == TMC2130_MODE_SILENT))
+        tmc2130_wr(axis, TMC2130_REG_PWMCONF, pwmconf[axis].dw);
 }
 
 void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_grad)
 {
-//	DBG(_n("tmc2130_set_pwm_grad(axis=%d, pwm_grad=%d\n"), axis, pwm_grad);
-	tmc2130_pwm_grad[axis] = pwm_grad;
-	if (((axis == 0) || (axis == 1)) && (tmc2130_mode == TMC2130_MODE_SILENT))
-		tmc2130_wr_PWMCONF(axis, tmc2130_pwm_ampl[axis], tmc2130_pwm_grad[axis], tmc2130_pwm_freq[axis], tmc2130_pwm_auto[axis], 0, 0);
+    pwmconf[axis].s.pwm_grad = pwm_grad;
+    if (((axis == X_AXIS) || (axis == Y_AXIS)) && (tmc2130_mode == TMC2130_MODE_SILENT))
+        tmc2130_wr(axis, TMC2130_REG_PWMCONF, pwmconf[axis].dw);
 }
 
 uint16_t tmc2130_rd_TSTEP(uint8_t axis)
@@ -522,52 +648,6 @@ void tmc2130_wr_MSLUT(uint8_t axis, uint8_t i, uint32_t val)
 	//printf_P(PSTR("MSLUT[%d]=%08lx\n"), i, val);
 }
 
-void tmc2130_wr_CHOPCONF(uint8_t axis, uint8_t toff, uint8_t hstrt, uint8_t hend, uint8_t fd3, uint8_t disfdcc, uint8_t rndtf, uint8_t chm, uint8_t tbl, uint8_t vsense, uint8_t vhighfs, uint8_t vhighchm, uint8_t sync, uint8_t mres, uint8_t intpol, uint8_t dedge, uint8_t diss2g)
-{
-	uint32_t val = 0;
-	val |= (uint32_t)(toff & 15);
-	val |= (uint32_t)(hstrt & 7) << 4;
-	val |= (uint32_t)(hend & 15) << 7;
-	val |= (uint32_t)(fd3 & 1) << 11;
-	val |= (uint32_t)(disfdcc & 1) << 12;
-	val |= (uint32_t)(rndtf & 1) << 13;
-	val |= (uint32_t)(chm & 1) << 14;
-	val |= (uint32_t)(tbl & 3) << 15;
-	val |= (uint32_t)(vsense & 1) << 17;
-	val |= (uint32_t)(vhighfs & 1) << 18;
-	val |= (uint32_t)(vhighchm & 1) << 19;
-	val |= (uint32_t)(sync & 15) << 20;
-	val |= (uint32_t)(mres & 15) << 24;
-	val |= (uint32_t)(intpol & 1) << 28;
-	val |= (uint32_t)(dedge & 1) << 29;
-	val |= (uint32_t)(diss2g & 1) << 30;
-	tmc2130_wr(axis, TMC2130_REG_CHOPCONF, val);
-}
-
-//void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)
-void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel)
-{
-	uint32_t val = 0;
-	val |= (uint32_t)(pwm_ampl & 255);
-	val |= (uint32_t)(pwm_grad & 255) << 8;
-	val |= (uint32_t)(pwm_freq & 3) << 16;
-	val |= (uint32_t)(pwm_auto & 1) << 18;
-	val |= (uint32_t)(pwm_symm & 1) << 19;
-	val |= (uint32_t)(freewheel & 3) << 20;
-	tmc2130_wr(axis, TMC2130_REG_PWMCONF, val);
-//	tmc2130_wr(axis, TMC2130_REG_PWMCONF, ((uint32_t)(PWMautoScale+PWMfreq) << 16) | ((uint32_t)PWMgrad << 8) | PWMampl); // TMC LJ -> For better readability changed to 0x00 and added PWMautoScale and PWMfreq
-}
-
-void tmc2130_wr_TPWMTHRS(uint8_t axis, uint32_t val32)
-{
-	tmc2130_wr(axis, TMC2130_REG_TPWMTHRS, val32);
-}
-
-void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32)
-{
-	tmc2130_wr(axis, TMC2130_REG_THIGH, val32);
-}
-
 uint8_t tmc2130_usteps2mres(uint16_t usteps)
 {
 	uint8_t mres = 8; while (usteps >>= 1) mres--;
@@ -643,39 +723,6 @@ static uint8_t tmc2130_rx(uint8_t axis, uint8_t addr, uint32_t* rval)
 	return stat;
 }
 
-#define _GET_PWR_X      (READ(X_ENABLE_PIN) == X_ENABLE_ON)
-#define _GET_PWR_Y      (READ(Y_ENABLE_PIN) == Y_ENABLE_ON)
-#define _GET_PWR_Z      (READ(Z_ENABLE_PIN) == Z_ENABLE_ON)
-#define _GET_PWR_E      (READ(E0_ENABLE_PIN) == E_ENABLE_ON)
-
-#define _SET_PWR_X(ena) WRITE(X_ENABLE_PIN, ena?X_ENABLE_ON:!X_ENABLE_ON)
-#define _SET_PWR_Y(ena) WRITE(Y_ENABLE_PIN, ena?Y_ENABLE_ON:!Y_ENABLE_ON)
-#define _SET_PWR_Z(ena) WRITE(Z_ENABLE_PIN, ena?Z_ENABLE_ON:!Z_ENABLE_ON)
-#define _SET_PWR_E(ena) WRITE(E0_ENABLE_PIN, ena?E_ENABLE_ON:!E_ENABLE_ON)
-
-#define _GET_DIR_X      (READ(X_DIR_PIN) == INVERT_X_DIR)
-#define _GET_DIR_Y      (READ(Y_DIR_PIN) == INVERT_Y_DIR)
-#define _GET_DIR_Z      (READ(Z_DIR_PIN) == INVERT_Z_DIR)
-#define _GET_DIR_E      (READ(E0_DIR_PIN) == INVERT_E0_DIR)
-
-#define _SET_DIR_X(dir) WRITE(X_DIR_PIN, dir?INVERT_X_DIR:!INVERT_X_DIR)
-#define _SET_DIR_Y(dir) WRITE(Y_DIR_PIN, dir?INVERT_Y_DIR:!INVERT_Y_DIR)
-#define _SET_DIR_Z(dir) WRITE(Z_DIR_PIN, dir?INVERT_Z_DIR:!INVERT_Z_DIR)
-#define _SET_DIR_E(dir) WRITE(E0_DIR_PIN, dir?INVERT_E0_DIR:!INVERT_E0_DIR)
-
-#ifdef TMC2130_DEDGE_STEPPING
-#define _DO_STEP_X      TOGGLE(X_STEP_PIN)
-#define _DO_STEP_Y      TOGGLE(Y_STEP_PIN)
-#define _DO_STEP_Z      TOGGLE(Z_STEP_PIN)
-#define _DO_STEP_E      TOGGLE(E0_STEP_PIN)
-#else
-#define _DO_STEP_X      { WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(X_STEP_PIN, INVERT_X_STEP_PIN); }
-#define _DO_STEP_Y      { WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN); }
-#define _DO_STEP_Z      { WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN); }
-#define _DO_STEP_E      { WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN); TMC2130_MINIMUM_DELAY; WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN); }
-#endif
-
-
 uint16_t tmc2130_get_res(uint8_t axis)
 {
 	return tmc2130_mres2usteps(tmc2130_mres[axis]);
@@ -685,7 +732,7 @@ void tmc2130_set_res(uint8_t axis, uint16_t res)
 {
 	tmc2130_mres[axis] = tmc2130_usteps2mres(res);
 //	uint32_t u = _micros();
-	tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
+	tmc2130_setup_chopper(axis, tmc2130_mres[axis]);
 //	u = _micros() - u;
 //	printf_P(PSTR("tmc2130_setup_chopper %c %lu us"), "XYZE"[axis], u);
 }
@@ -808,11 +855,11 @@ void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_u
 	}
 }
 
-void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream)
+void tmc2130_get_wave(uint8_t axis, uint8_t* data)
 {
 	uint8_t pwr = tmc2130_get_pwr(axis);
 	tmc2130_set_pwr(axis, 0);
-	tmc2130_setup_chopper(axis, tmc2130_usteps2mres(256), tmc2130_current_h[axis], tmc2130_current_r[axis]);
+	tmc2130_setup_chopper(axis, tmc2130_usteps2mres(256));
 	tmc2130_goto_step(axis, 0, 2, 100, 256);
 	tmc2130_set_dir(axis, tmc2130_get_inv(axis)?0:1);
 	for (unsigned int i = 0; i <= 255; i++)
@@ -820,18 +867,15 @@ void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream)
 		uint32_t val = tmc2130_rd_MSCURACT(axis);
 		uint16_t mscnt = tmc2130_rd_MSCNT(axis);
 		int curA = (val & 0xff) | ((val << 7) & 0x8000);
-		if (stream)
-		{
-			if (mscnt == i)
-				fprintf_P(stream, PSTR("%d\t%d\n"), i, curA);
-			else //TODO - remove this check
-				fprintf_P(stream, PSTR("!! (i=%d MSCNT=%d)\n"), i, mscnt);
-		}
+		if (mscnt == i)
+			printf_P(PSTR("%d\t%d\n"), i, curA);
+		else //TODO - remove this check
+			printf_P(PSTR("! (i=%d MSCNT=%d)\n"), i, mscnt);
 		if (data) *(data++) = curA;
 		tmc2130_do_step(axis);
 		delayMicroseconds(100);
 	}
-	tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
+	tmc2130_setup_chopper(axis, tmc2130_mres[axis]);
 	tmc2130_set_pwr(axis, pwr);
 }
 

Firmware/tmc2130.h

@@ -2,11 +2,10 @@
 #define TMC2130_H
 
 #include <stdint.h>
+#include "Configuration_var.h"
 
 //mode
 extern uint8_t tmc2130_mode;
-extern uint8_t tmc2130_current_h[4];
-extern uint8_t tmc2130_current_r[4];
 //microstep resolution (0 means 256usteps, 8 means 1ustep
 extern uint8_t tmc2130_mres[4];
 
@@ -58,7 +57,20 @@ typedef struct
 } tmc2130_chopper_config_t;
 #pragma pack(pop)
 
-extern tmc2130_chopper_config_t tmc2130_chopper_config[4];
+extern tmc2130_chopper_config_t tmc2130_chopper_config[NUM_AXIS];
+
+struct MotorCurrents {
+    bool vSense; ///< VSense current scaling
+    uint8_t iRun; ///< Running current
+    uint8_t iHold; ///< Holding current
+
+    constexpr inline __attribute__((always_inline)) MotorCurrents(uint8_t ir, uint8_t ih)
+        : vSense((ir < 32) ? 1 : 0)
+        , iRun((ir < 32) ? ir : (ir >> 1))
+        , iHold((ir < 32) ? ih : (ih >> 1)) {}
+};
+
+extern MotorCurrents currents[NUM_AXIS];
 
 //initialize tmc2130
 
@@ -94,7 +106,7 @@ extern void tmc2130_sg_measure_start(uint8_t axis);
 //stop current stallguard measuring and report result
 extern uint16_t tmc2130_sg_measure_stop();
 
-extern void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r);
+extern void tmc2130_setup_chopper(uint8_t axis, uint8_t mres);
 
 //set holding current for any axis (M911)
 extern void tmc2130_set_current_h(uint8_t axis, uint8_t current);
@@ -127,7 +139,7 @@ extern void tmc2130_set_dir(uint8_t axis, uint8_t dir);
 extern void tmc2130_do_step(uint8_t axis);
 extern void tmc2130_do_steps(uint8_t axis, uint16_t steps, uint8_t dir, uint16_t delay_us);
 extern void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_us, uint16_t microstep_resolution);
-extern void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream);
+extern void tmc2130_get_wave(uint8_t axis, uint8_t* data);
 extern void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac1000);
 
 extern bool tmc2130_home_calibrate(uint8_t axis);

Firmware/ultralcd.cpp

@@ -43,10 +43,6 @@
 #include "adc.h"
 #include "config.h"
 
-#ifndef LA_NOCOMPAT
-#include "la10compat.h"
-#endif
-
 #include "Prusa_farm.h"
 
 static void lcd_sd_updir();
@@ -56,9 +52,9 @@ static void lcd_backlight_menu();
 #endif
 
 FilamentAction eFilamentAction=FilamentAction::None; // must be initialized as 'non-autoLoad'
-static bool bFilamentPreheatState;
-static bool bFilamentAction = false;
-static bool bFilamentWaitingFlag = false;
+static bool bFilamentPreheatState; // True if target temperature is above min_temp
+static bool bFilamentWaitingFlag; // True if the preheat menu is waiting for the user
+static bool bFilamentSkipPreheat; // True if waiting for preheat is not required (e.g. MMU Cut and Eject)
 
 int8_t ReInitLCD = 0;
 uint8_t scrollstuff = 0;
@@ -114,13 +110,17 @@ static void lcd_menu_fails_stats_mmu();
 static void lcd_menu_fails_stats_mmu_print();
 static void lcd_menu_fails_stats_mmu_total();
 static void lcd_menu_toolchange_stats_mmu_total();
-static void mmu_unload_filament();
 static void lcd_v2_calibration();
 //static void lcd_menu_show_sensors_state();      // NOT static due to using inside "Marlin_main" module ("manage_inactivity()")
 
 static void mmu_fil_eject_menu();
 static void mmu_load_to_nozzle_menu();
 static void mmu_loading_test_menu();
+static void lcd_mmuLoadingTest();
+static void lcd_mmuCutFilament();
+static void lcd_mmuLoadFilament();
+static void lcd_mmuUnloadFilament();
+static void lcd_mmuEjectFilament();
 static void preheat_or_continue(FilamentAction action);
 
 #ifdef MMU_HAS_CUTTER
@@ -887,8 +887,8 @@ void lcd_commands()
 		}
 	}
 
-#ifdef TEMP_MODEL
-    if (lcd_commands_type == LcdCommands::TempModel && cmd_buffer_empty())
+#ifdef THERMAL_MODEL
+    if (lcd_commands_type == LcdCommands::ThermalModel && cmd_buffer_empty())
     {
         switch (lcd_commands_step)
         {
@@ -908,13 +908,13 @@ void lcd_commands()
             break;
 
         case 3:
-            temp_model_set_warn_beep(false);
+            thermal_model_set_warn_beep(false);
             enquecommand_P(PSTR("M310 A F1"));
             lcd_commands_step = 2;
             break;
 
         case 2:
-            if (temp_model_autotune_result())
+            if (thermal_model_autotune_result())
                 enquecommand_P(MSG_M500);
             lcd_commands_step = 1;
             break;
@@ -922,8 +922,8 @@ void lcd_commands()
         case 1:
             lcd_commands_step = 0;
             lcd_commands_type = LcdCommands::Idle;
-            temp_model_set_warn_beep(true);
-            bool res = temp_model_autotune_result();
+            thermal_model_set_warn_beep(true);
+            bool res = thermal_model_autotune_result();
             if (eeprom_read_byte((uint8_t*)EEPROM_WIZARD_ACTIVE)) {
                 // resume the wizard
                 lcd_wizard(res ? WizState::Restore : WizState::Failed);
@@ -931,15 +931,15 @@ void lcd_commands()
             break;
         }
     }
-#endif //TEMP_MODEL
+#endif //THERMAL_MODEL
 
 	if (lcd_commands_type == LcdCommands::NozzleCNG)
 	{
         if (!blocks_queued() && cmd_buffer_empty() && !saved_printing)
         {
-#ifdef TEMP_MODEL
+#ifdef THERMAL_MODEL
             static bool was_enabled;
-#endif //TEMP_MODEL
+#endif //THERMAL_MODEL
             switch(lcd_commands_step)
             {
             case 0:
@@ -953,10 +953,10 @@ void lcd_commands()
                 enquecommand_P(G28W);
                 enquecommand_P(PSTR("G1 X125 Z200 F1000"));
                 enquecommand_P(PSTR("M109 S280"));
-#ifdef TEMP_MODEL
-                was_enabled = temp_model_enabled();
-                temp_model_set_enabled(false);
-#endif //TEMP_MODEL
+#ifdef THERMAL_MODEL
+                was_enabled = thermal_model_enabled();
+                thermal_model_set_enabled(false);
+#endif //THERMAL_MODEL
                 lcd_commands_step = 2;
                 break;
             case 2:
@@ -969,9 +969,9 @@ void lcd_commands()
                 lcd_update_enabled = false; //hack to avoid lcd_update recursion.
                 if (lcd_show_fullscreen_message_yes_no_and_wait_P(_T(MSG_NOZZLE_CNG_CHANGED), false) == LCD_LEFT_BUTTON_CHOICE) {
                     setTargetHotend(0);
-#ifdef TEMP_MODEL
-                    temp_model_set_enabled(was_enabled);
-#endif //TEMP_MODEL
+#ifdef THERMAL_MODEL
+                    thermal_model_set_enabled(was_enabled);
+#endif //THERMAL_MODEL
                     lcd_commands_step = 1;
                 }
                 lcd_update_enabled = true;
@@ -1796,10 +1796,10 @@ switch(eFilamentAction)
      switch(eFilamentAction)
           {
           case FilamentAction::AutoLoad:
-               eFilamentAction=FilamentAction::None; // i.e. non-autoLoad
+               // loading no longer cancellable
+               eFilamentAction = FilamentAction::Load;
                // FALLTHRU
           case FilamentAction::Load:
-               loading_flag=true;
                enquecommand_P(MSG_M701);      // load filament
                break;
           case FilamentAction::UnLoad:
@@ -1818,6 +1818,17 @@ switch(eFilamentAction)
      }
 }
 
+void mFilamentBack()
+{
+    if (eFilamentAction == FilamentAction::AutoLoad ||
+        eFilamentAction == FilamentAction::Preheat ||
+        eFilamentAction == FilamentAction::Lay1Cal)
+    {
+        // filament action has been cancelled
+        eFilamentAction = FilamentAction::None;
+    }
+}
+
 void mFilamentItem(uint16_t nTemp, uint16_t nTempBed)
 {
     uint8_t nLevel;
@@ -1848,7 +1859,7 @@ void mFilamentItem(uint16_t nTemp, uint16_t nTempBed)
 
     // the current temperature is within +-TEMP_HYSTERESIS of the target
     // then continue with the filament action if any is set
-    if (abs((int)current_temperature[0] - nTemp) < TEMP_HYSTERESIS)
+    if (bFilamentSkipPreheat || abs((int)current_temperature[0] - nTemp) < TEMP_HYSTERESIS)
     {
         switch (eFilamentAction)
         {
@@ -1860,44 +1871,41 @@ void mFilamentItem(uint16_t nTemp, uint16_t nTempBed)
             {
                 nLevel = bFilamentPreheatState ? 1 : 2;
                 menu_back(nLevel);
-                if ((eFilamentAction == FilamentAction::Load) || (eFilamentAction == FilamentAction::AutoLoad))
-                {
-                    loading_flag = true;
-                    enquecommand_P(MSG_M701); // load filament
-                    if (eFilamentAction == FilamentAction::AutoLoad) eFilamentAction = FilamentAction::None; // i.e. non-autoLoad
+
+                if (eFilamentAction == FilamentAction::AutoLoad) {
+                    // loading no longer cancellable
+                    eFilamentAction = FilamentAction::Load;
                 }
-                if (eFilamentAction == FilamentAction::UnLoad)
-                enquecommand_P(MSG_M702); // unload filament
+
+                if (eFilamentAction == FilamentAction::Load)
+                    enquecommand_P(MSG_M701); // load filament
+                else if (eFilamentAction == FilamentAction::UnLoad)
+                    enquecommand_P(MSG_M702); // unload filament
             }
             break;
         case FilamentAction::MmuLoad:
             nLevel = bFilamentPreheatState ? 1 : 2;
-            bFilamentAction = true;
             menu_back(nLevel);
             menu_submenu(mmu_load_to_nozzle_menu, true);
             break;
         case FilamentAction::MmuLoadingTest:
             nLevel = bFilamentPreheatState ? 1 : 2;
-            bFilamentAction = true;
             menu_back(nLevel);
             menu_submenu(mmu_loading_test_menu, true);
             break;
         case FilamentAction::MmuUnLoad:
             nLevel = bFilamentPreheatState ? 1 : 2;
-            bFilamentAction = true;
             menu_back(nLevel);
             MMU2::mmu2.unload();
             break;
         case FilamentAction::MmuEject:
             nLevel = bFilamentPreheatState ? 1 : 2;
-            bFilamentAction = true;
             menu_back(nLevel);
             menu_submenu(mmu_fil_eject_menu, true);
             break;
         case FilamentAction::MmuCut:
 #ifdef MMU_HAS_CUTTER
             nLevel=bFilamentPreheatState?1:2;
-            bFilamentAction=true;
             menu_back(nLevel);
             menu_submenu(mmu_cut_filament_menu, true);
 #endif //MMU_HAS_CUTTER
@@ -1973,7 +1981,7 @@ void mFilamentItem(uint16_t nTemp, uint16_t nTempBed)
                 menu_back();
             }
             menu_back();
-            if (eFilamentAction == FilamentAction::AutoLoad) eFilamentAction = FilamentAction::None; // i.e. non-autoLoad
+            mFilamentBack();
         }
     }
 }
@@ -2049,16 +2057,6 @@ static void mFilamentItem_PVB()
     mFilamentItem(PVB_PREHEAT_HOTEND_TEMP, PVB_PREHEAT_HPB_TEMP);
 }
 
-void mFilamentBack()
-{
-    if (eFilamentAction == FilamentAction::AutoLoad ||
-            eFilamentAction == FilamentAction::Preheat ||
-            eFilamentAction == FilamentAction::Lay1Cal)
-    {
-        eFilamentAction = FilamentAction::None; // i.e. non-autoLoad
-    }
-}
-
 void lcd_generic_preheat_menu()
 {
     MENU_BEGIN();
@@ -2097,12 +2095,6 @@ static void lcd_unLoadFilament()
      preheat_or_continue(FilamentAction::UnLoad);
 }
 
-static void mmu_unload_filament()
-{
-    preheat_or_continue(FilamentAction::MmuUnLoad);
-}
-
-
 void lcd_wait_interact() {
 
   lcd_clear();
@@ -2245,9 +2237,16 @@ static void lcd_menu_AutoLoadFilament()
 
 static void preheat_or_continue(FilamentAction action) {
     eFilamentAction = action;
-    if (target_temperature[0] >= extrude_min_temp) {
+
+    // For MMU: If FINDA doesn't detect filament on Cut or Eject action,
+    // then preheating is unnecessary
+    bFilamentSkipPreheat = ( MMU2::mmu2.Enabled() && !MMU2::mmu2.FindaDetectsFilament()
+        && (action == FilamentAction::MmuCut ||  action == FilamentAction::MmuEject) );
+
+    if (bFilamentSkipPreheat || target_temperature[0] >= extrude_min_temp) {
         bFilamentPreheatState = true;
         mFilamentItem(target_temperature[0], target_temperature_bed);
+        bFilamentSkipPreheat = false; // Reset flag
     } else {
         lcd_generic_preheat_menu();
     }
@@ -2566,7 +2565,7 @@ static void lcd_babystep_z()
 	    if (!calibration_status_get(CALIBRATION_STATUS_LIVE_ADJUST))
 			_md->babystepMemZ = 0;
 
-		_md->babystepMemMMZ = _md->babystepMemZ/cs.axis_steps_per_unit[Z_AXIS];
+		_md->babystepMemMMZ = _md->babystepMemZ/cs.axis_steps_per_mm[Z_AXIS];
 		lcd_draw_update = 1;
 		//SERIAL_ECHO("Z baby step: ");
 		//SERIAL_ECHO(_md->babystepMem[2]);
@@ -2580,7 +2579,7 @@ static void lcd_babystep_z()
         else if (_md->babystepMemZ > Z_BABYSTEP_MAX) _md->babystepMemZ = Z_BABYSTEP_MAX; //0
         else babystepsTodoZadd(lcd_encoder);
 
-		_md->babystepMemMMZ = _md->babystepMemZ/cs.axis_steps_per_unit[Z_AXIS];
+		_md->babystepMemMMZ = _md->babystepMemZ/cs.axis_steps_per_mm[Z_AXIS];
 		_delay(50);
 		lcd_encoder = 0;
 		lcd_draw_update = 1;
@@ -2592,7 +2591,7 @@ static void lcd_babystep_z()
 	    lcd_set_cursor(0, 0);
 	    lcd_print(buffer.c);
 	    lcd_set_cursor(0, 1);
-		menu_draw_float13(_i("Adjusting Z:"), _md->babystepMemMMZ); ////MSG_BABYSTEPPING_Z c=15 // Beware: must include the ':' as its last character
+		menu_draw_float13(_i("Adjusting Z"), _md->babystepMemMMZ); ////MSG_BABYSTEPPING_Z c=13
 	}
 	if (LCD_CLICKED || menu_leaving)
 	{
@@ -2690,7 +2689,7 @@ void pid_extruder()
 	lcd_puts_at_P(0, 0, _i("Set temperature:"));////MSG_SET_TEMPERATURE c=20
 	pid_temp += lcd_encoder;
 	if (pid_temp > HEATER_0_MAXTEMP) pid_temp = HEATER_0_MAXTEMP;
-	if (pid_temp < HEATER_0_MINTEMP) pid_temp = HEATER_0_MINTEMP;
+	else if (pid_temp < HEATER_0_MINTEMP) pid_temp = HEATER_0_MINTEMP;
 	lcd_encoder = 0;
 	lcd_set_cursor(1, 2);
 	lcd_printf_P(PSTR("%3u"), pid_temp);
@@ -3339,7 +3338,7 @@ static void lcd_crash_mode_info()
 	if ((tim + 1000) < _millis())
 	{
 		lcd_clear();
-		fputs_P(_i("Crash detection can\nbe turned on only in\nNormal mode"), lcdout);////MSG_CRASH_DET_ONLY_IN_NORMAL c=20 r=4
+		lcd_puts_P(_i("Crash detection can\nbe turned on only in\nNormal mode"));////MSG_CRASH_DET_ONLY_IN_NORMAL c=20 r=4
 		tim = _millis();
 	}
     menu_back_if_clicked();
@@ -3352,7 +3351,7 @@ static void lcd_crash_mode_info2()
 	if ((tim + 1000) < _millis())
 	{
 		lcd_clear();
-		fputs_P(_i("WARNING:\nCrash detection\ndisabled in\nStealth mode"), lcdout);////MSG_CRASH_DET_STEALTH_FORCE_OFF c=20 r=4
+		lcd_puts_P(_i("WARNING:\nCrash detection\ndisabled in\nStealth mode"));////MSG_CRASH_DET_STEALTH_FORCE_OFF c=20 r=4
 		tim = _millis();
 	}
     menu_back_if_clicked();
@@ -3419,18 +3418,15 @@ static void crash_mode_switch()
 #endif //TMC2130
 
 #if (LANG_MODE != 0)
-
-void menu_setlang(unsigned char lang)
+static void menu_setlang(uint8_t lang)
 {
 	if (!lang_select(lang))
 	{
 		if (lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Copy selected language?"), false, LCD_LEFT_BUTTON_CHOICE) == LCD_LEFT_BUTTON_CHOICE)////MSG_COPY_SEL_LANG c=20 r=3
 			lang_boot_update_start(lang);
 		lcd_update_enable(true);
-		lcd_clear();
 		menu_goto(lcd_language_menu, 0, true, true);
 		lcd_timeoutToStatus.stop(); //infinite timeout
-		lcd_draw_update = 2;
 	}
 }
 
@@ -3441,7 +3437,7 @@ static void lcd_community_language_menu()
 	MENU_BEGIN();
 	uint8_t cnt = lang_get_count();
 	MENU_ITEM_BACK_P(_T(MSG_SELECT_LANGUAGE)); //Back to previous Menu
-	for (int i = 8; i < cnt; i++) //all community languages
+	for (uint8_t i = 8; i < cnt; i++) //all community languages
 		if (menu_item_text_P(lang_get_name_by_code(lang_get_code(i))))
 		{
 			menu_setlang(i);
@@ -3452,8 +3448,6 @@ static void lcd_community_language_menu()
 #endif //XFLASH
 #endif //COMMUNITY_LANGUAGE_SUPPORT && W52X20CL
 
-
-
 static void lcd_language_menu()
 {
 	MENU_BEGIN();
@@ -3474,9 +3468,9 @@ static void lcd_language_menu()
 		}
 	}
 	else
-		for (int i = 2; i < 8; i++) //skip seconday language - solved in lang_select (MK3) 'i < 8'  for 7 official languages
+		for (uint8_t i = 2; i < 8; i++) //skip seconday language - solved in lang_select (MK3) 'i < 8'  for 7 official languages
 #else //XFLASH
-		for (int i = 1; i < cnt; i++) //all seconday languages (MK2/25)
+		for (uint8_t i = 1; i < cnt; i++) //all seconday languages (MK2/25)
 #endif //XFLASH
 			if (menu_item_text_P(lang_get_name_by_code(lang_get_code(i))))
 			{
@@ -3494,7 +3488,6 @@ static void lcd_language_menu()
 }
 #endif //(LANG_MODE != 0)
 
-
 void lcd_mesh_bedleveling()
 {
 	enquecommand_P(PSTR("G80"));
@@ -3574,21 +3567,15 @@ void lcd_first_layer_calibration_reset()
         menu_goto(lcd_v2_calibration, 0, true, !lcd_clicked());
     }
 
-    if (lcd_encoder > 0)
-    {
-        menuData->reset = true;
-        lcd_encoder = 1;
-    }
-    else if (lcd_encoder < 1)
-    {
-        menuData->reset = false;
-        lcd_encoder = 0;
+    if (lcd_encoder) {
+        menuData->reset = lcd_encoder > 0;
+        lcd_encoder = 0; // Reset
     }
 
     char sheet_name[sizeof(Sheet::name)];
     eeprom_read_block(sheet_name, &EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].name, sizeof(Sheet::name));
     lcd_set_cursor(0, 0);
-    float offset = static_cast<int16_t>(eeprom_read_word(reinterpret_cast<uint16_t*>(&EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)))/cs.axis_steps_per_unit[Z_AXIS];
+    float offset = static_cast<int16_t>(eeprom_read_word(reinterpret_cast<uint16_t*>(&EEPROM_Sheets_base->s[(eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet)))].z_offset)))/cs.axis_steps_per_mm[Z_AXIS];
     lcd_printf_P(_i("Sheet %.7s\nZ offset: %+1.3fmm\n%cContinue\n%cReset"),////MSG_SHEET_OFFSET c=20 r=4
             sheet_name, offset, menuData->reset ? ' ' : '>', menuData->reset ? '>' : ' ');// \n denotes line break, %.7s is replaced by 7 character long sheet name, %+1.3f is replaced by 6 character long floating point number, %c is replaced by > or white space (one character) based on whether first or second option is selected. % denoted place holders can not be reordered.
 
@@ -3657,10 +3644,8 @@ void lcd_wizard() {
 void lcd_language()
 {
 	lcd_update_enable(true);
-	lcd_clear();
 	menu_goto(lcd_language_menu, 0, true, true);
 	lcd_timeoutToStatus.stop(); //infinite timeout
-	lcd_draw_update = 2;
 	while ((menu_menu != lcd_status_screen) && (!lang_is_selected()))
 	{
 		delay_keep_alive(50);
@@ -3696,13 +3681,14 @@ static void lcd_wizard_load() {
         // NOTE: a full screen message showing which filament is being inserted
         // is performed by M701. For this reason MSG_LOADING_FILAMENT is not
         // used here when a MMU is used.
+        eFilamentAction = FilamentAction::MmuLoad;
     } else {
         lcd_show_fullscreen_message_and_wait_P(
             _i("Please insert filament into the extruder, then press the knob to load it.")); ////MSG_WIZARD_LOAD_FILAMENT c=20 r=6
         lcd_update_enable(false);
         lcd_clear();
         lcd_puts_at_P(0, 2, _T(MSG_LOADING_FILAMENT));
-        loading_flag = true;
+        eFilamentAction = FilamentAction::Load;
     }
 
     // When MMU is disabled P parameter is ignored
@@ -3820,10 +3806,10 @@ void lcd_wizard(WizState state)
 				state = S::Xyz;
 			} else if (!calibration_status_get(CALIBRATION_STATUS_Z)) {
 				state = S::Z;
-#ifdef TEMP_MODEL
-			} else if (!calibration_status_get(CALIBRATION_STATUS_TEMP_MODEL)) {
-				state = S::TempModel;
-#endif //TEMP_MODEL
+#ifdef THERMAL_MODEL
+			} else if (!calibration_status_get(CALIBRATION_STATUS_THERMAL_MODEL)) {
+				state = S::ThermalModel;
+#endif //THERMAL_MODEL
 			} else if (!calibration_status_get(CALIBRATION_STATUS_LIVE_ADJUST)) {
 				state = S::IsFil;
 			} else {
@@ -3859,21 +3845,19 @@ void lcd_wizard(WizState state)
 				setTargetHotend(PLA_PREHEAT_HOTEND_TEMP);
 				lcd_display_message_fullscreen_P(_i("Now I will preheat nozzle for PLA.")); ////MSG_WIZARD_WILL_PREHEAT c=20 r=4
 				wait_preheat();
-				//unload current filament
-				unload_filament(FILAMENTCHANGE_FINALRETRACT);
-				//load filament
-				lcd_wizard_load();
+				unload_filament(FILAMENTCHANGE_FINALRETRACT); // unload current filament
+				lcd_wizard_load(); // load filament
 				setTargetHotend(0); //we are finished, cooldown nozzle
 				state = S::Restore;
 			}
 			break;
-#ifdef TEMP_MODEL
-		case S::TempModel:
+#ifdef THERMAL_MODEL
+		case S::ThermalModel:
 			lcd_show_fullscreen_message_and_wait_P(_i("Thermal model cal. takes approx. 12 mins. See\nprusa.io/tm-cal"));////MSG_TM_CAL c=20 r=4
-			lcd_commands_type = LcdCommands::TempModel;
+			lcd_commands_type = LcdCommands::ThermalModel;
 			end = true; // Leave wizard temporarily for TM cal.
 			break;
-#endif //TEMP_MODEL
+#endif //THERMAL_MODEL
 		case S::IsFil:
 		    //start to preheat nozzle and bed to save some time later
 			setTargetHotend(PLA_PREHEAT_HOTEND_TEMP);
@@ -4461,7 +4445,7 @@ static void lcd_settings_menu()
     if (MMU2::mmu2.Enabled())
     { // Only show menus when communicating with MMU
         menuitems_MMU_settings_common();
-        MENU_ITEM_SUBMENU_P(_T(MSG_LOADING_TEST), mmu_loading_test_menu);
+        MENU_ITEM_SUBMENU_P(_T(MSG_LOADING_TEST), lcd_mmuLoadingTest);
     }
 
     SETTINGS_FANS_CHECK();
@@ -4486,8 +4470,7 @@ static void lcd_settings_menu()
     MENU_ITEM_TOGGLE_P(_T(MSG_RPI_PORT), (selectedSerialPort == 0) ? _T(MSG_OFF) : _T(MSG_ON), lcd_second_serial_set);
 #endif //HAS_SECOND_SERIAL
 
-	if ( babystep_allowed() )
-		MENU_ITEM_SUBMENU_P(_T(MSG_BABYSTEP_Z), lcd_babystep_z);
+    if (!isPrintPaused) MENU_ITEM_SUBMENU_P(_T(MSG_BABYSTEP_Z), lcd_babystep_z);
 
 #if (LANG_MODE != 0)
 	MENU_ITEM_SUBMENU_P(_T(MSG_SELECT_LANGUAGE), lcd_language_menu);
@@ -4588,10 +4571,10 @@ static void lcd_calibration_menu()
 	    MENU_ITEM_FUNCTION_P(_T(MSG_PINDA_CALIBRATION), lcd_calibrate_pinda);
 #endif
   }
-#ifdef TEMP_MODEL
-    MENU_ITEM_SUBMENU_P(_n("Thermal Model cal."), lcd_temp_model_cal);
-#endif //TEMP_MODEL
-
+#ifdef THERMAL_MODEL
+    MENU_ITEM_SUBMENU_P(_n("Thermal Model cal."), lcd_thermal_model_cal);
+#endif //THERMAL_MODEL
+  
   MENU_END();
 }
 
@@ -4779,18 +4762,23 @@ static inline void load_filament_wrapper(uint8_t i){
     MMU2::mmu2.load_filament(i);
 }
 
-static void mmu_load_filament_menu() {
+static void mmu_preload_filament_menu() {
     MENU_BEGIN();
     MENU_ITEM_BACK_P(_T(MSG_MAIN));
     MENU_ITEM_FUNCTION_P(_T(MSG_LOAD_ALL), load_all_wrapper);
     for (uint8_t i = 0; i < MMU_FILAMENT_COUNT; i++)
-        MENU_ITEM_FUNCTION_NR_P(_T(MSG_LOAD_FILAMENT), i + '1', load_filament_wrapper, i); ////MSG_LOAD_FILAMENT c=16
+        MENU_ITEM_FUNCTION_NR_P(_T(MSG_LOAD_FILAMENT), i + '1', load_filament_wrapper, i);
     MENU_END();
 }
 
 static inline void lcd_mmu_load_to_nozzle_wrapper(uint8_t index){
     MMU2::mmu2.load_filament_to_nozzle(index);
 
+    // Extrude a little bit of filament so the user
+    // can see the color is correct
+    load_filament_final_feed();
+    st_synchronize();
+
     // Ask user if the extruded color is correct:
     lcd_return_to_status();
     lcd_load_filament_color_check();
@@ -4799,15 +4787,11 @@ static inline void lcd_mmu_load_to_nozzle_wrapper(uint8_t index){
 }
 
 static void mmu_load_to_nozzle_menu() {
-    if (bFilamentAction) {
-        MENU_BEGIN();
-        MENU_ITEM_BACK_P(_T(MSG_MAIN));
-        for (uint8_t i = 0; i < MMU_FILAMENT_COUNT; i++)
-            MENU_ITEM_FUNCTION_NR_P(_T(MSG_LOAD_FILAMENT), i + '1', lcd_mmu_load_to_nozzle_wrapper, i); ////MSG_LOAD_FILAMENT c=16
-        MENU_END();
-    } else {
-        preheat_or_continue(FilamentAction::MmuLoad);
-    }
+    MENU_BEGIN();
+    MENU_ITEM_BACK_P(_T(MSG_MAIN));
+    for (uint8_t i = 0; i < MMU_FILAMENT_COUNT; i++)
+        MENU_ITEM_FUNCTION_NR_P(_T(MSG_LOAD_FILAMENT), i + '1', lcd_mmu_load_to_nozzle_wrapper, i);
+    MENU_END();
 }
 
 static void mmu_eject_filament(uint8_t filament) {
@@ -4816,15 +4800,11 @@ static void mmu_eject_filament(uint8_t filament) {
 }
 
 static void mmu_fil_eject_menu() {
-    if (bFilamentAction || (!MMU2::mmu2.FindaDetectsFilament())) {
-        MENU_BEGIN();
-        MENU_ITEM_BACK_P(_T(MSG_MAIN));
-        for (uint8_t i = 0; i < MMU_FILAMENT_COUNT; i++)
-            MENU_ITEM_FUNCTION_NR_P(_T(MSG_EJECT_FROM_MMU), i + '1', mmu_eject_filament, i); ////MSG_EJECT_FROM_MMU c=16
-        MENU_END();
-    } else {
-        preheat_or_continue(FilamentAction::MmuEject);
-    }
+    MENU_BEGIN();
+    MENU_ITEM_BACK_P(_T(MSG_MAIN));
+    for (uint8_t i = 0; i < MMU_FILAMENT_COUNT; i++)
+        MENU_ITEM_FUNCTION_NR_P(_T(MSG_EJECT_FROM_MMU), i + '1', mmu_eject_filament, i);
+    MENU_END();
 }
 
 #ifdef MMU_HAS_CUTTER
@@ -4833,15 +4813,11 @@ static inline void mmu_cut_filament_wrapper(uint8_t index){
 }
 
 static void mmu_cut_filament_menu() {
-    if (bFilamentAction || (!MMU2::mmu2.FindaDetectsFilament())) {
-        MENU_BEGIN();
-        MENU_ITEM_BACK_P(_T(MSG_MAIN));
-        for (uint8_t i = 0; i < MMU_FILAMENT_COUNT; i++)
-            MENU_ITEM_FUNCTION_NR_P(_T(MSG_CUT_FILAMENT), i + '1', mmu_cut_filament_wrapper, i); ////MSG_CUT_FILAMENT c=16
-        MENU_END();
-    } else {
-        preheat_or_continue(FilamentAction::MmuCut);
-    }
+    MENU_BEGIN();
+    MENU_ITEM_BACK_P(_T(MSG_MAIN));
+    for (uint8_t i = 0; i < MMU_FILAMENT_COUNT; i++)
+        MENU_ITEM_FUNCTION_NR_P(_T(MSG_CUT_FILAMENT), i + '1', mmu_cut_filament_wrapper, i);
+    MENU_END();
 }
 #endif //MMU_HAS_CUTTER
 
@@ -4856,44 +4832,59 @@ static inline void loading_test_wrapper(uint8_t i){
 }
 
 static void mmu_loading_test_menu() {
-    if (bFilamentAction) {
-        MENU_BEGIN();
-        MENU_ITEM_BACK_P(_T(MSG_MAIN));
-        MENU_ITEM_FUNCTION_P(_T(MSG_LOAD_ALL), loading_test_all_wrapper);
-        for (uint8_t i = 0; i < MMU_FILAMENT_COUNT; i++)
-            MENU_ITEM_FUNCTION_NR_P(_T(MSG_LOAD_FILAMENT), i + '1', loading_test_wrapper, i); ////MSG_LOAD_FILAMENT c=16
-        MENU_END();
-    } else {
-        preheat_or_continue(FilamentAction::MmuLoadingTest);
-    }
+    MENU_BEGIN();
+    MENU_ITEM_BACK_P(_T(MSG_MAIN));
+    MENU_ITEM_FUNCTION_P(_T(MSG_LOAD_ALL), loading_test_all_wrapper);
+    for (uint8_t i = 0; i < MMU_FILAMENT_COUNT; i++)
+        MENU_ITEM_FUNCTION_NR_P(_T(MSG_LOAD_FILAMENT), i + '1', loading_test_wrapper, i);
+    MENU_END();
+}
+
+static void lcd_mmuLoadingTest() {
+    preheat_or_continue(FilamentAction::MmuLoadingTest);
+}
+
+static void lcd_mmuCutFilament() {
+    preheat_or_continue(FilamentAction::MmuCut);
+}
+
+static void lcd_mmuLoadFilament() {
+    preheat_or_continue(FilamentAction::MmuLoad);
+}
+
+static void lcd_mmuUnloadFilament() {
+    preheat_or_continue(FilamentAction::MmuUnLoad);
+}
+
+static void lcd_mmuEjectFilament() {
+    preheat_or_continue(FilamentAction::MmuEject);
 }
 
 /// @brief unload filament for single material printer (used in M600 and M702)
 /// @param unloadLength Retract distance for removal (manual reload)
 void unload_filament(float unloadLength)
 {
-	custom_message_type = CustomMsg::FilamentLoading;
-	lcd_setstatuspgm(_T(MSG_UNLOADING_FILAMENT));
+    custom_message_type = CustomMsg::FilamentLoading;
+    lcd_setstatuspgm(_T(MSG_UNLOADING_FILAMENT));
 
     FSensorBlockRunout fsBlockRunout;
 
-    // Retract filament
-    current_position[E_AXIS] += -FILAMENT_UNLOAD_PURGE_RETRACT;
-    plan_buffer_line_curposXYZE(PAUSE_PARK_RETRACT_FEEDRATE);
+    current_position[E_AXIS] -= FILAMENT_UNLOAD_FAST_RETRACT_LENGTH;
+    plan_buffer_line_curposXYZE(FILAMENT_UNLOAD_FAST_RETRACT_FEEDRATE);
     st_synchronize();
 
-    // Wait for filament to cool
-    delay_keep_alive(FILAMENT_UNLOAD_PURGE_DELAY);
-
-    // Quickly purge
-    current_position[E_AXIS] += (FILAMENT_UNLOAD_PURGE_RETRACT + FILAMENT_UNLOAD_PURGE_LENGTH);
-    plan_buffer_line_curposXYZE(FILAMENT_UNLOAD_PURGE_FEEDRATE);
+    current_position[E_AXIS] -= FILAMENT_UNLOAD_SLOW_RETRACT_LENGTH;
+    plan_buffer_line_curposXYZE(FILAMENT_UNLOAD_SLOW_RETRACT_FEEDRATE);
     st_synchronize();
 
-    // Configurable length
-    current_position[E_AXIS] += unloadLength;
-    plan_buffer_line_curposXYZE(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
-    st_synchronize();
+    // Configurable length, by default it's 0.
+    // only plan the move if the length is set to a non-zero value
+    if (unloadLength)
+    {
+        current_position[E_AXIS] += unloadLength;
+        plan_buffer_line_curposXYZE(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
+        st_synchronize();
+    }
 
 	lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
 
@@ -4914,7 +4905,6 @@ void unload_filament(float unloadLength)
 
 	lcd_setstatuspgm(MSG_WELCOME);
 	custom_message_type = CustomMsg::Status;
-
 	eFilamentAction = FilamentAction::None;
 }
 
@@ -5165,7 +5155,8 @@ static void lcd_main_menu()
     MENU_ITEM_FUNCTION_P(PSTR("power panic"), uvlo_);
 #endif //TMC2130_DEBUG
 
-    if ( babystep_allowed() )
+    // Menu is never shown when idle
+    if (babystep_allowed_strict() && (printJobOngoing() || lcd_commands_type == LcdCommands::Layer1Cal))
         MENU_ITEM_SUBMENU_P(_T(MSG_BABYSTEP_Z), lcd_babystep_z);//8
 
     if (farm_mode)
@@ -5202,15 +5193,15 @@ static void lcd_main_menu()
     if((printJobOngoing() || isPrintPaused) && (custom_message_type != CustomMsg::MeshBedLeveling) && !processing_tcode) {
         MENU_ITEM_SUBMENU_P(_T(MSG_STOP_PRINT), lcd_sdcard_stop);
     }
-#ifdef TEMP_MODEL
+#ifdef THERMAL_MODEL
     else if(Stopped) {
         MENU_ITEM_SUBMENU_P(_T(MSG_TM_ACK_ERROR), lcd_print_stop);
     }
 #endif
 #ifdef SDSUPPORT //!@todo SDSUPPORT undefined creates several issues in source code
-    if (card.cardOK || lcd_commands_type == LcdCommands::Layer1Cal) {
+    if (card.cardOK || lcd_commands_type != LcdCommands::Idle) {
         if (!card.isFileOpen()) {
-            if (!usb_timer.running() && (lcd_commands_type != LcdCommands::Layer1Cal)) {
+            if (!usb_timer.running() && (lcd_commands_type == LcdCommands::Idle)) {
                 bMain=true;               // flag ('fake parameter') for 'lcd_sdcard_menu()' function
                 MENU_ITEM_SUBMENU_P(_T(MSG_CARD_MENU), lcd_sdcard_menu);
             }
@@ -5227,7 +5218,7 @@ static void lcd_main_menu()
     }
 #endif //SDSUPPORT
 
-    if(!isPrintPaused && !printJobOngoing() && (lcd_commands_type != LcdCommands::Layer1Cal)) {
+    if(!isPrintPaused && !printJobOngoing() && (lcd_commands_type == LcdCommands::Idle)) {
         if (!farm_mode) {
             const int8_t sheet = eeprom_read_byte(&(EEPROM_Sheets_base->active_sheet));
             const int8_t nextSheet = eeprom_next_initialized_sheet(sheet);
@@ -5237,15 +5228,19 @@ static void lcd_main_menu()
         }
     }
 
-    if ( ! ( printJobOngoing() || (lcd_commands_type == LcdCommands::Layer1Cal || Stopped) ) ) {
+    if ( ! ( printJobOngoing() || (lcd_commands_type != LcdCommands::Idle) || (eFilamentAction != FilamentAction::None) || Stopped ) ) {
         if (MMU2::mmu2.Enabled()) {
-            MENU_ITEM_SUBMENU_P(_T(MSG_LOAD_FILAMENT), mmu_load_filament_menu);
-            MENU_ITEM_SUBMENU_P(_i("Load to nozzle"), mmu_load_to_nozzle_menu);////MSG_LOAD_TO_NOZZLE c=18
-            MENU_ITEM_SUBMENU_P(_T(MSG_UNLOAD_FILAMENT), mmu_unload_filament);
-            MENU_ITEM_SUBMENU_P(_T(MSG_EJECT_FROM_MMU), mmu_fil_eject_menu);
+            if(!MMU2::mmu2.FindaDetectsFilament() && !fsensor.getFilamentPresent()) {
+                // The MMU 'Load filament' state machine will reject the command if any 
+                // filament sensor is reporting a detected filament
+                MENU_ITEM_SUBMENU_P(_T(MSG_PRELOAD_TO_MMU), mmu_preload_filament_menu);
+            }
+            MENU_ITEM_SUBMENU_P(_i("Load to nozzle"), lcd_mmuLoadFilament);////MSG_LOAD_TO_NOZZLE c=18
+            MENU_ITEM_SUBMENU_P(_T(MSG_UNLOAD_FILAMENT), lcd_mmuUnloadFilament);
+            MENU_ITEM_SUBMENU_P(_T(MSG_EJECT_FROM_MMU), lcd_mmuEjectFilament);
 #ifdef  MMU_HAS_CUTTER
             if (eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED) != 0) {
-                MENU_ITEM_SUBMENU_P(_T(MSG_CUT_FILAMENT), mmu_cut_filament_menu);
+                MENU_ITEM_SUBMENU_P(_T(MSG_CUT_FILAMENT), lcd_mmuCutFilament);
             }
 #endif //MMU_HAS_CUTTER
         } else {
@@ -5264,7 +5259,7 @@ static void lcd_main_menu()
     if(!isPrintPaused) MENU_ITEM_SUBMENU_P(_T(MSG_CALIBRATION), lcd_calibration_menu);
     }
 
-    if (!usb_timer.running() && (lcd_commands_type != LcdCommands::Layer1Cal)) {
+    if (!usb_timer.running() && (lcd_commands_type == LcdCommands::Idle)) {
         MENU_ITEM_SUBMENU_P(_i("Statistics"), lcd_menu_statistics);////MSG_STATISTICS c=18
     }
 
@@ -5616,13 +5611,13 @@ void lcd_print_stop()
     print_stop(true);
 }
 
-#ifdef TEMP_MODEL
-void lcd_temp_model_cal()
+#ifdef THERMAL_MODEL
+void lcd_thermal_model_cal()
 {
-    lcd_commands_type = LcdCommands::TempModel;
+    lcd_commands_type = LcdCommands::ThermalModel;
     lcd_return_to_status();
 }
-#endif //TEMP_MODEL
+#endif //THERMAL_MODEL
 
 void lcd_sdcard_stop()
 {
@@ -5899,9 +5894,6 @@ bool lcd_selftest()
 		if (!MMU2::mmu2.Enabled()) {
 			lcd_detect_IRsensor();
 		}
-		else {
-			fsensor.setSensorRevision(IR_sensor_analog::SensorRevision::_Old, true);
-		}
 	}
 #endif
 	lcd_wait_for_cool_down();
@@ -6265,10 +6257,8 @@ static bool lcd_selfcheck_axis_sg(uint8_t axis) {
 #endif //TMC2130
 
 #ifndef TMC2130
-
 static bool lcd_selfcheck_axis(int _axis, int _travel)
 {
-//	printf_P(PSTR("lcd_selfcheck_axis %d, %d\n"), _axis, _travel);
 	bool _stepdone = false;
 	bool _stepresult = false;
 	uint8_t _progress = 0;
@@ -6287,13 +6277,9 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 
 		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60);
 		st_synchronize();
-#ifdef TMC2130
-		if ((READ(Z_MIN_PIN) ^ (bool)Z_MIN_ENDSTOP_INVERTING))
-#else //TMC2130
 		if ((READ(X_MIN_PIN) ^ (bool)X_MIN_ENDSTOP_INVERTING) ||
 			(READ(Y_MIN_PIN) ^ (bool)Y_MIN_ENDSTOP_INVERTING) ||
 			(READ(Z_MIN_PIN) ^ (bool)Z_MIN_ENDSTOP_INVERTING))
-#endif //TMC2130
 		{
 			if (_axis == 0)
 			{
@@ -6311,10 +6297,7 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 			{
 				_stepresult = ((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1) ? true : false;
 				_err_endstop = ((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ? 0 : 1;
-	printf_P(PSTR("lcd_selfcheck_axis %d, %d\n"), _stepresult, _err_endstop);
-				/*disable_x();
-				disable_y();
-				disable_z();*/
+				printf_P(PSTR("lcd_selfcheck_axis %d, %d\n"), _stepresult, _err_endstop);
 			}
 			_stepdone = true;
 		}
@@ -6332,15 +6315,10 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 		manage_heater();
 		manage_inactivity(true);
 
-		//_delay(100);
 		(_travel_done <= _travel) ? _travel_done++ : _stepdone = true;
 
 	} while (!_stepdone);
 
-
-	//current_position[_axis] = current_position[_axis] + 15;
-	//plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
-
 	if (!_stepresult)
 	{
 		const char *_error_1;
@@ -6489,10 +6467,10 @@ static bool lcd_selfcheck_check_heater(bool _isbed)
 
 	target_temperature[0] = (_isbed) ? 0 : 200;
 	target_temperature_bed = (_isbed) ? 100 : 0;
-#ifdef TEMP_MODEL
-	bool tm_was_enabled = temp_model_enabled();
-	temp_model_set_enabled(false);
-#endif //TEMP_MODEL
+#ifdef THERMAL_MODEL
+	bool tm_was_enabled = thermal_model_enabled();
+	thermal_model_set_enabled(false);
+#endif //THERMAL_MODEL
 	manage_heater();
 	manage_inactivity(true);
 
@@ -6541,9 +6519,9 @@ static bool lcd_selfcheck_check_heater(bool _isbed)
         lcd_selftest_error(TestError::Bed, "", "");
     }
 
-#ifdef TEMP_MODEL
-	temp_model_set_enabled(tm_was_enabled);
-#endif //TEMP_MODEL
+#ifdef THERMAL_MODEL
+	thermal_model_set_enabled(tm_was_enabled);
+#endif //THERMAL_MODEL
 	manage_heater();
 	manage_inactivity(true);
 	return _stepresult;
@@ -6684,50 +6662,17 @@ static bool lcd_selftest_fsensor(void)
 //! @retval false failed
 static bool selftest_irsensor()
 {
-    class TempBackup
-    {
-    public:
-        TempBackup():
-            m_temp(degTargetHotend(active_extruder)){}
-        ~TempBackup(){setTargetHotend(m_temp);}
-    private:
-        float m_temp;
-    };
-    uint8_t progress;
-    {
-        TempBackup tempBackup;
-        setTargetHotend(ABS_PREHEAT_HOTEND_TEMP);
-        progress = lcd_selftest_screen(TestScreen::Fsensor, 0, 1, true, 0);
-    }
-    progress = lcd_selftest_screen(TestScreen::Fsensor, progress, 1, true, 0);
-    MMU2::mmu2.unload();
+    // Ask user which slot to load filament from
+    uint8_t slot = choose_menu_P(_T(MSG_SELECT_FILAMENT), _T(MSG_FILAMENT));
 
-    for(uint_least8_t i = 0; i < 200; ++i)
-    {
-        if (0 == (i % 32)) progress = lcd_selftest_screen(TestScreen::Fsensor, progress, 1, true, 0);
+    // Render self-test screen
+    lcd_selftest_screen(TestScreen::Fsensor, 0, 1, true, 0);
 
-//@@TODO        mmu_load_step(false);
-        while (blocks_queued())
-        {
-            if (fsensor.getFilamentPresent())
-            {
-                lcd_selftest_error(TestError::TriggeringFsensor, "", "");
-                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
-        }
-    }
+    // Run self-test
+    set_extrude_min_temp(0);
+    MMU2::mmu2.tool_change(slot);
+    MMU2::mmu2.unload(); //Unload filament
+    set_extrude_min_temp(EXTRUDE_MINTEMP);
     return true;
 }
 #endif //(FILAMENT_SENSOR_TYPE == FSENSOR_IR) || (FILAMENT_SENSOR_TYPE == FSENSOR_IR_ANALOG)
@@ -6988,7 +6933,8 @@ static bool check_file(const char* filename) {
 
 static void menu_action_sdfile(const char* filename)
 {
-  loading_flag = false;
+  if(eFilamentAction != FilamentAction::None) return;
+
   char cmd[30];
   char* c;
   bool result = true;
@@ -7183,11 +7129,13 @@ void menu_lcd_longpress_func(void)
 
     // explicitely listed menus which are allowed to rise the move-z or live-adj-z functions
     // The lists are not the same for both functions, so first decide which function is to be performed
-    if (babystep_allowed()){ // long press as live-adj-z
-        if ( menu_menu == lcd_status_screen // and in listed menus...
+    if (blocks_queued() || printJobOngoing()){ // long press as live-adj-z
+        if ( babystep_allowed_strict()
+        && (menu_menu == lcd_status_screen // and in listed menus...
           || menu_menu == lcd_main_menu
           || menu_menu == lcd_tune_menu
           || menu_menu == lcd_support_menu
+           )
         ){
             lcd_clear();
             menu_submenu(lcd_babystep_z);

Firmware/ultralcd.h

@@ -50,9 +50,9 @@ void lcd_pause_usb_print();
 void lcd_resume_print();
 void lcd_print_stop(); // interactive print stop
 void print_stop(bool interactive=false);
-#ifdef TEMP_MODEL
-void lcd_temp_model_cal();
-#endif //TEMP_MODEL
+#ifdef THERMAL_MODEL
+void lcd_thermal_model_cal();
+#endif //THERMAL_MODEL
 void lcd_load_filament_color_check();
 
 extern void lcd_belttest();
@@ -117,9 +117,9 @@ enum class LcdCommands : uint_least8_t
 	LongPause,
 	PidExtruder,
 	Layer1Cal,
-#ifdef TEMP_MODEL
-    TempModel,
-#endif //TEMP_MODEL
+#ifdef THERMAL_MODEL
+    ThermalModel,
+#endif //THERMAL_MODEL
     NozzleCNG,
 };
 
@@ -175,17 +175,17 @@ void lcd_hw_setup_menu(void);                     // NOT static due to using ins
 
 enum class FilamentAction : uint_least8_t
 {
-    None, //!< 'none' state is used as flag for (filament) autoLoad (i.e. opposite for 'autoLoad' state)
+    None, // no filament action is taking place
     Load,
-    AutoLoad,
+    AutoLoad, // triggered by insertion, cancellable until it transitions to Load
     UnLoad,
     MmuLoad,
     MmuUnLoad,
     MmuEject,
     MmuCut,
     MmuLoadingTest,
-    Preheat,
-    Lay1Cal,
+    Preheat, // triggered by preheat (cancellable)
+    Lay1Cal, // triggered by 1st layer calibration (cancellable)
 };
 
 extern FilamentAction eFilamentAction;
@@ -225,9 +225,9 @@ enum class WizState : uint8_t
     Selftest,       //!< self test
     Xyz,            //!< xyz calibration
     Z,              //!< z calibration
-#ifdef TEMP_MODEL
-    TempModel,      //!< Temp model calibration
-#endif //TEMP_MODEL
+#ifdef THERMAL_MODEL
+    ThermalModel,   //!< Thermal Model calibration
+#endif //THERMAL_MODEL
     IsFil,          //!< Is filament loaded? First step of 1st layer calibration
     Preheat,        //!< Preheat for any material
     LoadFilCold,    //!< Load filament for MMU

Firmware/util.cpp

@@ -407,16 +407,19 @@ return pStrBegin;
 }
 
 void printer_smodel_check(const char *pStrPos, const char *actualPrinterSModel) {
-char* pResult;
-size_t nLength,nPrinterNameLength;
+    char* pResult;
+    size_t nLength;
+    size_t aLength;
 
-nPrinterNameLength = strlen_P(actualPrinterSModel);
-pResult=code_string(pStrPos,&nLength);
+    pResult=code_string(pStrPos,&nLength);
+    if(pResult != NULL) {
+        aLength=strlen_P(actualPrinterSModel);
+        if(aLength > nLength) nLength = aLength;
 
-if(pResult != NULL && nLength == nPrinterNameLength) {
-     // Only compare them if the lengths match
-     if (strncmp_P(pResult, actualPrinterSModel, nLength) == 0) return;
-}
+        // Only compare first 6 chars on MK3|MK3S if string longer than 4 characters
+        if (nLength > 4 && strncmp_P(pResult, PSTR("MK3"), 3) == 0) nLength = 6;
+        if (strncmp_P(pResult, actualPrinterSModel, nLength) == 0) return;
+    }
 
     render_M862_warnings(
         _T(MSG_GCODE_DIFF_PRINTER_CONTINUE)

Firmware/util.h

@@ -103,22 +103,22 @@ extern void ip4_to_str(char* dest, uint8_t* IP);
 // Calibration status of the machine
 // (unsigned char*)EEPROM_CALIBRATION_STATUS_V2
 typedef uint8_t CalibrationStatus;
-const CalibrationStatus CALIBRATION_STATUS_SELFTEST    = 0b00000001; // Selftest
-const CalibrationStatus CALIBRATION_STATUS_XYZ         = 0b00000010; // XYZ calibration
-const CalibrationStatus CALIBRATION_STATUS_Z           = 0b00000100; // Z calibration
-#ifdef TEMP_MODEL
-const CalibrationStatus CALIBRATION_STATUS_TEMP_MODEL  = 0b00001000; // Temperature model calibration
+const CalibrationStatus CALIBRATION_STATUS_SELFTEST      = 0b00000001; // Selftest
+const CalibrationStatus CALIBRATION_STATUS_XYZ           = 0b00000010; // XYZ calibration
+const CalibrationStatus CALIBRATION_STATUS_Z             = 0b00000100; // Z calibration
+#ifdef THERMAL_MODEL
+const CalibrationStatus CALIBRATION_STATUS_THERMAL_MODEL = 0b00001000; // Thermal model calibration
 #endif
-const CalibrationStatus CALIBRATION_STATUS_LIVE_ADJUST = 0b00010000; // 1st layer calibration
-const CalibrationStatus CALIBRATION_STATUS_UNKNOWN     = 0b10000000; // Freshly assembled or unknown status
+const CalibrationStatus CALIBRATION_STATUS_LIVE_ADJUST   = 0b00010000; // 1st layer calibration
+const CalibrationStatus CALIBRATION_STATUS_UNKNOWN       = 0b10000000; // Freshly assembled or unknown status
 
 // Calibration steps performed by the wizard
 const CalibrationStatus CALIBRATION_WIZARD_STEPS =
     CALIBRATION_STATUS_SELFTEST |
     CALIBRATION_STATUS_XYZ |
     CALIBRATION_STATUS_Z |
-#ifdef TEMP_MODEL
-    CALIBRATION_STATUS_TEMP_MODEL |
+#ifdef THERMAL_MODEL
+    CALIBRATION_STATUS_THERMAL_MODEL |
 #endif
     CALIBRATION_STATUS_LIVE_ADJUST;
 

Firmware/variants/1_75mm_MK25-RAMBo10a-E3Dv6full.h

@@ -219,7 +219,7 @@
 #define FILAMENTCHANGE_YPOS 0
 #define FILAMENTCHANGE_ZADD 2
 #define FILAMENTCHANGE_FIRSTRETRACT -2
-#define FILAMENTCHANGE_FINALRETRACT -80
+#define FILAMENTCHANGE_FINALRETRACT 0
 
 #define FILAMENTCHANGE_FIRSTFEED 70 //E distance in mm for fast filament loading sequence used used in filament change (M600)
 #define FILAMENTCHANGE_FINALFEED 25 //E distance in mm for slow filament loading sequence used used in filament change (M600) and filament load (M701) 
@@ -444,9 +444,6 @@
 #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
 

Firmware/variants/1_75mm_MK25-RAMBo13a-E3Dv6full.h

@@ -220,7 +220,7 @@
 #define FILAMENTCHANGE_YPOS 0
 #define FILAMENTCHANGE_ZADD 2
 #define FILAMENTCHANGE_FIRSTRETRACT -2
-#define FILAMENTCHANGE_FINALRETRACT -80
+#define FILAMENTCHANGE_FINALRETRACT 0
 
 #define FILAMENTCHANGE_FIRSTFEED 70 //E distance in mm for fast filament loading sequence used used in filament change (M600)
 #define FILAMENTCHANGE_FINALFEED 25 //E distance in mm for slow filament loading sequence used used in filament change (M600) and filament load (M701) 
@@ -445,9 +445,6 @@
 #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
 

Firmware/variants/1_75mm_MK25S-RAMBo10a-E3Dv6full.h

@@ -219,7 +219,7 @@
 #define FILAMENTCHANGE_YPOS 0
 #define FILAMENTCHANGE_ZADD 2
 #define FILAMENTCHANGE_FIRSTRETRACT -2
-#define FILAMENTCHANGE_FINALRETRACT -80
+#define FILAMENTCHANGE_FINALRETRACT 0
 
 #define FILAMENTCHANGE_FIRSTFEED 70 //E distance in mm for fast filament loading sequence used used in filament change (M600)
 #define FILAMENTCHANGE_FINALFEED 25 //E distance in mm for slow filament loading sequence used used in filament change (M600) and filament load (M701) 
@@ -444,9 +444,6 @@
 #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
 

Firmware/variants/1_75mm_MK25S-RAMBo13a-E3Dv6full.h

@@ -220,7 +220,7 @@
 #define FILAMENTCHANGE_YPOS 0
 #define FILAMENTCHANGE_ZADD 2
 #define FILAMENTCHANGE_FIRSTRETRACT -2
-#define FILAMENTCHANGE_FINALRETRACT -80
+#define FILAMENTCHANGE_FINALRETRACT 0
 
 #define FILAMENTCHANGE_FIRSTFEED 70 //E distance in mm for fast filament loading sequence used used in filament change (M600)
 #define FILAMENTCHANGE_FINALFEED 25 //E distance in mm for slow filament loading sequence used used in filament change (M600) and filament load (M701) 
@@ -445,9 +445,6 @@
 #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
 

Firmware/variants/1_75mm_MK3-EINSy10a-E3DREVO.h

@@ -0,0 +1,663 @@
+#ifndef CONFIGURATION_PRUSA_H
+#define CONFIGURATION_PRUSA_H
+
+#include <limits.h>
+
+#include "printers.h"
+/*------------------------------------
+ GENERAL SETTINGS
+ *------------------------------------*/
+
+// Printer revision
+#define PRINTER_TYPE PRINTER_MK3
+#define PRINTER_NAME PRINTER_MK3_NAME
+#define PRINTER_NAME_ALTERNATE PRINTER_MK3S_NAME //the other similar printer to this.
+#define PRINTER_MMU_TYPE PRINTER_MK3_MMU3
+#define PRINTER_MMU_NAME PRINTER_MK3_MMU3_NAME
+#define FILAMENT_SIZE "1_75mm_MK3"
+#define NOZZLE_TYPE "E3DREVO"
+
+// Printer name
+#define CUSTOM_MENDEL_NAME "Prusa i3 MK3-R"
+
+// 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   {100,100,3200/8,280}
+
+// 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
+
+// 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
+#define Z_CANCEL_LIFT 50
+
+//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 (M204P)
+#define DEFAULT_RETRACT_ACCELERATION  1250   // X, Y, Z and E max acceleration in mm/s^2 for retracts (M204R)
+#define DEFAULT_TRAVEL_ACCELERATION   1250   // X, Y, Z and E max acceleration in mm/s^2 for travels (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
+
+// Offline crash dumper
+#define XFLASH_DUMP     // enable dump functionality (including D20/D21/D22)
+#define MENU_DUMP       // enable "Memory dump" in Settings menu
+#define EMERGENCY_DUMP  // trigger crash on stack corruption and WDR
+
+// Online crash dumper
+//#define EMERGENCY_SERIAL_DUMP   // Request dump via serial on stack corruption and WDR
+//#define MENU_SERIAL_DUMP        // Enable "Memory dump" in Settings menu
+
+// Filament sensor
+#define FILAMENT_SENSOR
+#define FILAMENT_SENSOR_TYPE FSENSOR_PAT9125
+#define FSENSOR_PROBING
+
+// 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      10
+#define MINTEMP_MINAMBIENT_RAW  1002
+
+#define DEBUG_DCODE2
+#define DEBUG_DCODE3
+#define DEBUG_DCODE6
+
+//#define DEBUG_PULLUP_CRASH //Test Pullup crash
+
+//#define DEBUG_BUILD
+//#define DEBUG_SEC_LANG   //secondary language debug output at startup
+//#define DEBUG_XFLASH   //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_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_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 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 ALLOW_ALL_MRES
+
+#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
+
+// experimental setting for E-motor cooler operation
+#define TMC2130_PWM_GRAD_Ecool  84        // PWMCONF 730mA @ 375mm/min  970mA phase peak at feedrate 900mm/min
+#define TMC2130_PWM_AMPL_Ecool  43        // PWMCONF 500mA phase peak at feedrate 10 mm/min
+#define TMC2130_PWM_AUTO_Ecool  0         // 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_TPWMTHRS_E 403      // Switch extruder from StealthChop to SpreadCycle at around 900mm/min
+#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
+#define TMC2130_SG_THRS_HOME {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E}
+
+//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_FARM 36             // E 805 mA peak for ECool/farm mode
+#define TMC2130_CURRENTS_R {16, 20, 35, 30}  // default running currents for all axes
+#define TMC2130_CURRENTS_R_HOME {8, 10, 20, 18}  // homing running currents for all axes
+
+#define TMC2130_STEALTH_Z
+#define TMC2130_DEDGE_STEPPING
+
+//#define TMC2130_SERVICE_CODES_M910_M918
+
+//#define TMC2130_DEBUG
+//#define TMC2130_DEBUG_WR
+//#define TMC2130_DEBUG_RD
+
+
+/*------------------------------------
+ EXTRUDER SETTINGS
+ *------------------------------------*/
+
+// Mintemps
+#define HEATER_0_MINTEMP 10
+#define HEATER_MINTEMP_DELAY 15000                // [ms] ! if changed, check maximal allowed value @ ShortTimer
+#if HEATER_MINTEMP_DELAY>USHRT_MAX
+#error "Check maximal allowed value @ ShortTimer (see HEATER_MINTEMP_DELAY definition)"
+#endif
+#define BED_MINTEMP 10
+#define BED_MINTEMP_DELAY 50000                   // [ms] ! if changed, check maximal allowed value @ ShortTimer
+#if BED_MINTEMP_DELAY>USHRT_MAX
+#error "Check maximal allowed value @ ShortTimer (see BED_MINTEMP_DELAY definition)"
+#endif
+#define SUPERPINDA_SUPPORT
+#define PINDA_MINTEMP 10
+//#define PINDA_TEMP_COMP //Used to enable SuperPINDA toggle menu/function
+#define AMBIENT_MINTEMP -30
+
+// 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 BED_MAXTEMP 125
+#define AMBIENT_MAXTEMP 100
+
+#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 E3D REVO
+#define  DEFAULT_Kp 25.00
+#define  DEFAULT_Ki 4.8
+#define  DEFAULT_Kd 32.6
+#endif
+
+// Extrude mintemp
+#define EXTRUDE_MINTEMP 175
+
+// Extruder cooling fans
+#define EXTRUDER_0_AUTO_FAN_PIN   8
+#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
+#define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
+
+#define FANCHECK_AUTO_PRINT_FAN_THRS 70 //[RPS] - Used during selftest to identify swapped fans automatically
+#define FANCHECK_AUTO_FAIL_THRS 20 //[RPS] - Used during selftest to identify a faulty fan
+
+/*------------------------------------
+ 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 0
+
+#define FILAMENTCHANGE_FIRSTFEED 70 //E distance in mm for fast filament loading sequence used used in filament change (M600)
+#define FILAMENTCHANGE_FINALFEED 25 //E distance in mm for slow filament loading sequence used used in filament change (M600) and filament load (M701) 
+#define FILAMENTCHANGE_RECFEED 5
+
+#define FILAMENTCHANGE_XYFEED 50
+#define FILAMENTCHANGE_EFEED_FIRST 20 // feedrate in mm/s for fast filament loading sequence used in filament change (M600)
+#define FILAMENTCHANGE_EFEED_FINAL 3.3f // feedrate in mm/s for slow filament loading sequence used in filament change (M600) and filament load (M701) 
+//#define FILAMENTCHANGE_RFEED 400
+#define FILAMENTCHANGE_RFEED 7000 / 60
+#define FILAMENTCHANGE_EXFEED 2
+#define FILAMENTCHANGE_ZFEED 15
+
+#endif
+
+/*------------------------------------
+ ADDITIONAL FEATURES SETTINGS
+ *------------------------------------*/
+
+// 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
+
+// model-based temperature check
+#define THERMAL_MODEL 1              // enable model-based temperature checks
+#define THERMAL_MODEL_DEBUG 1        // extended runtime logging
+
+#define THERMAL_MODEL_CAL_C_low 5    // C estimation lower limit
+#define THERMAL_MODEL_CAL_C_high 20  // C estimation upper limit
+#define THERMAL_MODEL_CAL_C_thr 0.01 // C estimation iteration threshold
+#define THERMAL_MODEL_CAL_C_itr 30   // C estimation iteration limit
+
+#define THERMAL_MODEL_CAL_R_low 5    // R estimation lower limit
+#define THERMAL_MODEL_CAL_R_high 50  // R estimation upper limit
+#define THERMAL_MODEL_CAL_R_thr 0.01 // R estimation iteration threshold
+#define THERMAL_MODEL_CAL_R_itr 30   // R estimation iteration limit
+
+#define THERMAL_MODEL_CAL_T_low 50   // Default calibration cooling temperature (C)
+#define THERMAL_MODEL_CAL_T_high 230 // Default calibration working temperature (C)
+
+#define THERMAL_MODEL_Ta_corr -7     // Default ambient temperature correction
+
+#include "thermal_model/e3d_REVO.h"
+#define THERMAL_MODEL_DEFAULT E3D_REVO // Default E3D REVO model parameters
+
+
+/*------------------------------------
+ MOTOR CURRENT SETTINGS
+ *------------------------------------*/
+
+// Motor Current settings for Einsy/tmc = 0..63
+#define MOTOR_CURRENT_PWM_RANGE 63
+
+/*------------------------------------
+ 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 24
+#define MESH_MAX_X 228
+#define MESH_MIN_Y 6
+#define MESH_MAX_Y 210
+
+// 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
+
+// Maximum bed level correction value
+#define BED_ADJUSTMENT_UM_MAX 100
+
+#define MESH_HOME_Z_CALIB 0.2
+#define MESH_HOME_Z_SEARCH 5.0f           // 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
+
+/*-----------------------------------
+ PREHEAT SETTINGS
+ *------------------------------------*/
+
+#define PLA_PREHEAT_HOTEND_TEMP 215
+#define PLA_PREHEAT_HPB_TEMP 60
+
+#define PVB_PREHEAT_HOTEND_TEMP 215
+#define PVB_PREHEAT_HPB_TEMP 75
+
+#define ASA_PREHEAT_HOTEND_TEMP 260
+#define ASA_PREHEAT_HPB_TEMP 105
+
+#define PC_PREHEAT_HOTEND_TEMP 275
+#define PC_PREHEAT_HPB_TEMP 110
+
+#define PA_PREHEAT_HOTEND_TEMP 275
+#define PA_PREHEAT_HPB_TEMP 90
+
+#define ABS_PREHEAT_HOTEND_TEMP 255
+#define ABS_PREHEAT_HPB_TEMP 100
+
+#define HIPS_PREHEAT_HOTEND_TEMP 220
+#define HIPS_PREHEAT_HPB_TEMP 100
+
+#define PP_PREHEAT_HOTEND_TEMP 254
+#define PP_PREHEAT_HPB_TEMP 100
+
+#define PET_PREHEAT_HOTEND_TEMP 230
+#define PET_PREHEAT_HPB_TEMP 85
+
+#define FLEX_PREHEAT_HOTEND_TEMP 240
+#define FLEX_PREHEAT_HPB_TEMP 50
+
+/*------------------------------------
+ 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
+#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 STACK_GUARD_MARGIN     32
+
+#define MAX_BED_TEMP_CALIBRATION 50
+#define MAX_HOTEND_TEMP_CALIBRATION 50
+
+#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 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
+// When powered off during PP recovery, the Z axis position can still be re-adjusted. In this case
+// we just need to shift to the nearest fullstep, but we need a move which is at least
+// "dropsegments" steps long. All the above rules still need to apply.
+#define UVLO_TINY_Z_AXIS_SHIFT 0.16
+// 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_CONFIG_FILE "mmu2/variants/config_MMU2.h"
+#define MMU_FILAMENT_COUNT 5
+//#define MMU_FORCE_STEALTH_MODE
+#define MMU_HWRESET
+#define MMU_DEBUG //print communication between MMU and printer on serial
+#define MMU_HAS_CUTTER
+
+// MMU Error pause position
+#define MMU_ERR_X_PAUSE_POS 125
+#define MMU_ERR_Y_PAUSE_POS 0
+#define MMU_ERR_Z_PAUSE_LIFT 20
+
+// Default Arc Interpolation Settings (Now configurable via M214)
+#define DEFAULT_N_ARC_CORRECTION       25 // Number of interpolated segments between corrections.
+/* A value of 1 or less for N_ARC_CORRECTION will trigger the use of Sin and Cos for every arc, which will improve accuracy at the
+   cost of performance*/
+#define DEFAULT_MM_PER_ARC_SEGMENT     1.0f // REQUIRED - The enforced maximum length of an arc segment
+#define DEFAULT_MIN_MM_PER_ARC_SEGMENT 0.5f //the enforced minimum length of an interpolated segment
+   /*  MIN_MM_PER_ARC_SEGMENT Must be smaller than MM_PER_ARC_SEGMENT.  Only has an effect if MIN_ARC_SEGMENTS > 0
+       or ARC_SEGMENTS_PER_SEC > 0 .  If both MIN_ARC_SEGMENTS and ARC_SEGMENTS_PER_SEC is defined, the minimum
+       calculated segment length is used. */
+#define DEFAULT_MIN_ARC_SEGMENTS 20 // The enforced minimum segments in a full circle of the same radius.  Set to 0 to disable
+#define DEFAULT_ARC_SEGMENTS_PER_SEC 0 // Use feedrate to choose segment length. Set to 0 to disable
+
+#endif //__CONFIGURATION_PRUSA_H

Firmware/variants/1_75mm_MK3-EINSy10a-E3DREVO_HF_60W.h

@@ -0,0 +1,664 @@
+#ifndef CONFIGURATION_PRUSA_H
+#define CONFIGURATION_PRUSA_H
+
+#include <limits.h>
+
+#include "printers.h"
+/*------------------------------------
+ GENERAL SETTINGS
+ *------------------------------------*/
+
+// Printer revision
+#define PRINTER_TYPE PRINTER_MK3
+#define PRINTER_NAME PRINTER_MK3_NAME
+#define PRINTER_NAME_ALTERNATE PRINTER_MK3S_NAME //the other similar printer to this.
+#define PRINTER_MMU_TYPE PRINTER_MK3_MMU3
+#define PRINTER_MMU_NAME PRINTER_MK3_MMU3_NAME
+#define FILAMENT_SIZE "1_75mm_MK3"
+#define NOZZLE_TYPE "E3DREVO_HF_60W"
+
+// Printer name
+#define CUSTOM_MENDEL_NAME "Prusa MK3-RHF60"
+
+// 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   {100,100,3200/8,280}
+
+// 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
+
+// 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
+#define Z_CANCEL_LIFT 50
+
+//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 (M204P)
+#define DEFAULT_RETRACT_ACCELERATION  1250   // X, Y, Z and E max acceleration in mm/s^2 for retracts (M204R)
+#define DEFAULT_TRAVEL_ACCELERATION   1250   // X, Y, Z and E max acceleration in mm/s^2 for travels (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
+
+// Offline crash dumper
+#define XFLASH_DUMP     // enable dump functionality (including D20/D21/D22)
+#define MENU_DUMP       // enable "Memory dump" in Settings menu
+#define EMERGENCY_DUMP  // trigger crash on stack corruption and WDR
+
+// Online crash dumper
+//#define EMERGENCY_SERIAL_DUMP   // Request dump via serial on stack corruption and WDR
+//#define MENU_SERIAL_DUMP        // Enable "Memory dump" in Settings menu
+
+// Filament sensor
+#define FILAMENT_SENSOR
+#define FILAMENT_SENSOR_TYPE FSENSOR_PAT9125
+#define FSENSOR_PROBING
+
+// 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      10
+#define MINTEMP_MINAMBIENT_RAW  1002
+
+#define DEBUG_DCODE2
+#define DEBUG_DCODE3
+#define DEBUG_DCODE6
+
+//#define DEBUG_PULLUP_CRASH //Test Pullup crash
+
+//#define DEBUG_BUILD
+//#define DEBUG_SEC_LANG   //secondary language debug output at startup
+//#define DEBUG_XFLASH   //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_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_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 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 ALLOW_ALL_MRES
+
+#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
+
+// experimental setting for E-motor cooler operation
+#define TMC2130_PWM_GRAD_Ecool  84        // PWMCONF 730mA @ 375mm/min  970mA phase peak at feedrate 900mm/min
+#define TMC2130_PWM_AMPL_Ecool  43        // PWMCONF 500mA phase peak at feedrate 10 mm/min
+#define TMC2130_PWM_AUTO_Ecool  0         // 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_TPWMTHRS_E 403      // Switch extruder from StealthChop to SpreadCycle at around 900mm/min
+#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
+#define TMC2130_SG_THRS_HOME {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E}
+
+//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_FARM 36             // E 805 mA peak for ECool/farm mode
+#define TMC2130_CURRENTS_R {16, 20, 35, 30}  // default running currents for all axes
+#define TMC2130_CURRENTS_R_HOME {8, 10, 20, 18}  // homing running currents for all axes
+
+#define TMC2130_STEALTH_Z
+#define TMC2130_DEDGE_STEPPING
+
+//#define TMC2130_SERVICE_CODES_M910_M918
+
+//#define TMC2130_DEBUG
+//#define TMC2130_DEBUG_WR
+//#define TMC2130_DEBUG_RD
+
+
+/*------------------------------------
+ EXTRUDER SETTINGS
+ *------------------------------------*/
+
+// Mintemps
+#define HEATER_0_MINTEMP 10
+#define HEATER_MINTEMP_DELAY 15000                // [ms] ! if changed, check maximal allowed value @ ShortTimer
+#if HEATER_MINTEMP_DELAY>USHRT_MAX
+#error "Check maximal allowed value @ ShortTimer (see HEATER_MINTEMP_DELAY definition)"
+#endif
+#define BED_MINTEMP 10
+#define BED_MINTEMP_DELAY 50000                   // [ms] ! if changed, check maximal allowed value @ ShortTimer
+#if BED_MINTEMP_DELAY>USHRT_MAX
+#error "Check maximal allowed value @ ShortTimer (see BED_MINTEMP_DELAY definition)"
+#endif
+#define SUPERPINDA_SUPPORT
+#define PINDA_MINTEMP 10
+//#define PINDA_TEMP_COMP //Used to enable SuperPINDA toggle menu/function
+#define AMBIENT_MINTEMP -30
+
+// 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 BED_MAXTEMP 125
+#define AMBIENT_MAXTEMP 100
+
+#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 E3D REVO HF 60W
+#define  MAX_OVERSHOOT_PID_AUTOTUNE 30
+#define  DEFAULT_Kp 15.00
+#define  DEFAULT_Ki 2.9
+#define  DEFAULT_Kd 19.2
+#endif
+
+// Extrude mintemp
+#define EXTRUDE_MINTEMP 175
+
+// Extruder cooling fans
+#define EXTRUDER_0_AUTO_FAN_PIN   8
+#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
+#define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
+
+#define FANCHECK_AUTO_PRINT_FAN_THRS 70 //[RPS] - Used during selftest to identify swapped fans automatically
+#define FANCHECK_AUTO_FAIL_THRS 20 //[RPS] - Used during selftest to identify a faulty fan
+
+/*------------------------------------
+ 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 0
+
+#define FILAMENTCHANGE_FIRSTFEED 70 //E distance in mm for fast filament loading sequence used used in filament change (M600)
+#define FILAMENTCHANGE_FINALFEED 25 //E distance in mm for slow filament loading sequence used used in filament change (M600) and filament load (M701) 
+#define FILAMENTCHANGE_RECFEED 5
+
+#define FILAMENTCHANGE_XYFEED 50
+#define FILAMENTCHANGE_EFEED_FIRST 20 // feedrate in mm/s for fast filament loading sequence used in filament change (M600)
+#define FILAMENTCHANGE_EFEED_FINAL 3.3f // feedrate in mm/s for slow filament loading sequence used in filament change (M600) and filament load (M701) 
+//#define FILAMENTCHANGE_RFEED 400
+#define FILAMENTCHANGE_RFEED 7000 / 60
+#define FILAMENTCHANGE_EXFEED 2
+#define FILAMENTCHANGE_ZFEED 15
+
+#endif
+
+/*------------------------------------
+ ADDITIONAL FEATURES SETTINGS
+ *------------------------------------*/
+
+// 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
+
+// model-based temperature check
+#define THERMAL_MODEL 1              // enable model-based temperature checks
+#define THERMAL_MODEL_DEBUG 1        // extended runtime logging
+
+#define THERMAL_MODEL_CAL_C_low 5    // C estimation lower limit
+#define THERMAL_MODEL_CAL_C_high 20  // C estimation upper limit
+#define THERMAL_MODEL_CAL_C_thr 0.01 // C estimation iteration threshold
+#define THERMAL_MODEL_CAL_C_itr 30   // C estimation iteration limit
+
+#define THERMAL_MODEL_CAL_R_low 5    // R estimation lower limit
+#define THERMAL_MODEL_CAL_R_high 50  // R estimation upper limit
+#define THERMAL_MODEL_CAL_R_thr 0.01 // R estimation iteration threshold
+#define THERMAL_MODEL_CAL_R_itr 30   // R estimation iteration limit
+
+#define THERMAL_MODEL_CAL_T_low 50   // Default calibration cooling temperature (C)
+#define THERMAL_MODEL_CAL_T_high 230 // Default calibration working temperature (C)
+
+#define THERMAL_MODEL_Ta_corr -7     // Default ambient temperature correction
+
+#include "thermal_model/e3d_REVO_HF_60W.h"
+#define THERMAL_MODEL_DEFAULT E3D_REVO_HF_60W // Default E3D REVO HF 60W model parameters
+
+
+/*------------------------------------
+ MOTOR CURRENT SETTINGS
+ *------------------------------------*/
+
+// Motor Current settings for Einsy/tmc = 0..63
+#define MOTOR_CURRENT_PWM_RANGE 63
+
+/*------------------------------------
+ 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 24
+#define MESH_MAX_X 228
+#define MESH_MIN_Y 6
+#define MESH_MAX_Y 210
+
+// 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
+
+// Maximum bed level correction value
+#define BED_ADJUSTMENT_UM_MAX 100
+
+#define MESH_HOME_Z_CALIB 0.2
+#define MESH_HOME_Z_SEARCH 5.0f           // 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
+
+/*-----------------------------------
+ PREHEAT SETTINGS
+ *------------------------------------*/
+
+#define PLA_PREHEAT_HOTEND_TEMP 215
+#define PLA_PREHEAT_HPB_TEMP 60
+
+#define PVB_PREHEAT_HOTEND_TEMP 215
+#define PVB_PREHEAT_HPB_TEMP 75
+
+#define ASA_PREHEAT_HOTEND_TEMP 260
+#define ASA_PREHEAT_HPB_TEMP 105
+
+#define PC_PREHEAT_HOTEND_TEMP 275
+#define PC_PREHEAT_HPB_TEMP 110
+
+#define PA_PREHEAT_HOTEND_TEMP 275
+#define PA_PREHEAT_HPB_TEMP 90
+
+#define ABS_PREHEAT_HOTEND_TEMP 255
+#define ABS_PREHEAT_HPB_TEMP 100
+
+#define HIPS_PREHEAT_HOTEND_TEMP 220
+#define HIPS_PREHEAT_HPB_TEMP 100
+
+#define PP_PREHEAT_HOTEND_TEMP 254
+#define PP_PREHEAT_HPB_TEMP 100
+
+#define PET_PREHEAT_HOTEND_TEMP 230
+#define PET_PREHEAT_HPB_TEMP 85
+
+#define FLEX_PREHEAT_HOTEND_TEMP 240
+#define FLEX_PREHEAT_HPB_TEMP 50
+
+/*------------------------------------
+ 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
+#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 STACK_GUARD_MARGIN     32
+
+#define MAX_BED_TEMP_CALIBRATION 50
+#define MAX_HOTEND_TEMP_CALIBRATION 50
+
+#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 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
+// When powered off during PP recovery, the Z axis position can still be re-adjusted. In this case
+// we just need to shift to the nearest fullstep, but we need a move which is at least
+// "dropsegments" steps long. All the above rules still need to apply.
+#define UVLO_TINY_Z_AXIS_SHIFT 0.16
+// 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_CONFIG_FILE "mmu2/variants/config_MMU2.h"
+#define MMU_FILAMENT_COUNT 5
+//#define MMU_FORCE_STEALTH_MODE
+#define MMU_HWRESET
+#define MMU_DEBUG //print communication between MMU and printer on serial
+#define MMU_HAS_CUTTER
+
+// MMU Error pause position
+#define MMU_ERR_X_PAUSE_POS 125
+#define MMU_ERR_Y_PAUSE_POS 0
+#define MMU_ERR_Z_PAUSE_LIFT 20
+
+// Default Arc Interpolation Settings (Now configurable via M214)
+#define DEFAULT_N_ARC_CORRECTION       25 // Number of interpolated segments between corrections.
+/* A value of 1 or less for N_ARC_CORRECTION will trigger the use of Sin and Cos for every arc, which will improve accuracy at the
+   cost of performance*/
+#define DEFAULT_MM_PER_ARC_SEGMENT     1.0f // REQUIRED - The enforced maximum length of an arc segment
+#define DEFAULT_MIN_MM_PER_ARC_SEGMENT 0.5f //the enforced minimum length of an interpolated segment
+   /*  MIN_MM_PER_ARC_SEGMENT Must be smaller than MM_PER_ARC_SEGMENT.  Only has an effect if MIN_ARC_SEGMENTS > 0
+       or ARC_SEGMENTS_PER_SEC > 0 .  If both MIN_ARC_SEGMENTS and ARC_SEGMENTS_PER_SEC is defined, the minimum
+       calculated segment length is used. */
+#define DEFAULT_MIN_ARC_SEGMENTS 20 // The enforced minimum segments in a full circle of the same radius.  Set to 0 to disable
+#define DEFAULT_ARC_SEGMENTS_PER_SEC 0 // Use feedrate to choose segment length. Set to 0 to disable
+
+#endif //__CONFIGURATION_PRUSA_H

Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h

@@ -12,8 +12,8 @@
 #define PRINTER_TYPE PRINTER_MK3
 #define PRINTER_NAME PRINTER_MK3_NAME
 #define PRINTER_NAME_ALTERNATE PRINTER_MK3S_NAME //the other similar printer to this.
-#define PRINTER_MMU_TYPE PRINTER_MK3_MMU2
-#define PRINTER_MMU_NAME PRINTER_MK3_MMU2_NAME
+#define PRINTER_MMU_TYPE PRINTER_MK3_MMU3
+#define PRINTER_MMU_NAME PRINTER_MK3_MMU3_NAME
 #define FILAMENT_SIZE "1_75mm_MK3"
 #define NOZZLE_TYPE "E3Dv6full"
 
@@ -38,9 +38,7 @@
  *------------------------------------*/
 
 // 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.
@@ -358,7 +356,7 @@
 #define FILAMENTCHANGE_YPOS 0
 #define FILAMENTCHANGE_ZADD 2
 #define FILAMENTCHANGE_FIRSTRETRACT -2
-#define FILAMENTCHANGE_FINALRETRACT -80
+#define FILAMENTCHANGE_FINALRETRACT 0
 
 #define FILAMENTCHANGE_FIRSTFEED 70 //E distance in mm for fast filament loading sequence used used in filament change (M600)
 #define FILAMENTCHANGE_FINALFEED 25 //E distance in mm for slow filament loading sequence used used in filament change (M600) and filament load (M701) 
@@ -386,26 +384,26 @@
 #define TEMP_RUNAWAY_EXTRUDER_TIMEOUT 45
 
 // model-based temperature check
-#define TEMP_MODEL 1              // enable model-based temperature checks
-#define TEMP_MODEL_DEBUG 1        // extended runtime logging
+#define THERMAL_MODEL 1              // enable model-based temperature checks
+#define THERMAL_MODEL_DEBUG 1        // extended runtime logging
 
-#define TEMP_MODEL_CAL_C_low 5    // C estimation lower limit
-#define TEMP_MODEL_CAL_C_high 20  // C estimation upper limit
-#define TEMP_MODEL_CAL_C_thr 0.01 // C estimation iteration threshold
-#define TEMP_MODEL_CAL_C_itr 30   // C estimation iteration limit
+#define THERMAL_MODEL_CAL_C_low 5    // C estimation lower limit
+#define THERMAL_MODEL_CAL_C_high 20  // C estimation upper limit
+#define THERMAL_MODEL_CAL_C_thr 0.01 // C estimation iteration threshold
+#define THERMAL_MODEL_CAL_C_itr 30   // C estimation iteration limit
 
-#define TEMP_MODEL_CAL_R_low 5    // R estimation lower limit
-#define TEMP_MODEL_CAL_R_high 50  // R estimation upper limit
-#define TEMP_MODEL_CAL_R_thr 0.01 // R estimation iteration threshold
-#define TEMP_MODEL_CAL_R_itr 30   // R estimation iteration limit
+#define THERMAL_MODEL_CAL_R_low 5    // R estimation lower limit
+#define THERMAL_MODEL_CAL_R_high 50  // R estimation upper limit
+#define THERMAL_MODEL_CAL_R_thr 0.01 // R estimation iteration threshold
+#define THERMAL_MODEL_CAL_R_itr 30   // R estimation iteration limit
 
-#define TEMP_MODEL_CAL_T_low 50   // Default calibration cooling temperature (C)
-#define TEMP_MODEL_CAL_T_high 230 // Default calibration working temperature (C)
+#define THERMAL_MODEL_CAL_T_low 50   // Default calibration cooling temperature (C)
+#define THERMAL_MODEL_CAL_T_high 230 // Default calibration working temperature (C)
 
-#define TEMP_MODEL_Ta_corr -7     // Default ambient temperature correction
+#define THERMAL_MODEL_Ta_corr -7     // Default ambient temperature correction
 
-#include "temp_model/e3d_v6.h"
-#define TEMP_MODEL_DEFAULT E3D_V6 // Default model parameters
+#include "thermal_model/e3d_v6.h"
+#define THERMAL_MODEL_DEFAULT E3D_V6 // Default model parameters
 
 
 /*------------------------------------
@@ -596,9 +594,6 @@
 #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
 

Firmware/variants/1_75mm_MK3S-EINSy10a-E3DREVO.h

@@ -0,0 +1,675 @@
+#ifndef CONFIGURATION_PRUSA_H
+#define CONFIGURATION_PRUSA_H
+
+#include <limits.h>
+#include "printers.h"
+/*------------------------------------
+ GENERAL SETTINGS
+ *------------------------------------*/
+
+// Printer revision
+#define PRINTER_TYPE PRINTER_MK3S
+#define PRINTER_NAME PRINTER_MK3S_NAME
+#define PRINTER_NAME_ALTERNATE PRINTER_MK3_NAME //the other similar printer to this.
+#define PRINTER_MMU_TYPE PRINTER_MK3S_MMU3
+#define PRINTER_MMU_NAME PRINTER_MK3S_MMU3_NAME
+#define FILAMENT_SIZE "1_75mm_MK3S"
+#define NOZZLE_TYPE "E3DREVO"
+
+// Printer name
+#define CUSTOM_MENDEL_NAME "Prusa i3 MK3S-R"
+
+// Electronics
+#define MOTHERBOARD BOARD_EINSY_1_0a
+#define STEEL_SHEET
+#define HAS_SECOND_SERIAL_PORT
+
+// PSU
+// #define PSU_Delta                                 // uncomment if DeltaElectronics PSU installed
+
+
+// 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   {100,100,3200/8,280}
+
+// 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
+
+// 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
+#define Z_CANCEL_LIFT 50
+
+//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 (M204P)
+#define DEFAULT_RETRACT_ACCELERATION  1250   // X, Y, Z and E max acceleration in mm/s^2 for retracts (M204R)
+#define DEFAULT_TRAVEL_ACCELERATION   1250   // X, Y, Z and E max acceleration in mm/s^2 for travels (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
+
+// Offline crash dumper
+#define XFLASH_DUMP     // enable dump functionality (including D20/D21/D22)
+#define MENU_DUMP       // enable "Memory dump" in Settings menu
+#define EMERGENCY_DUMP  // trigger crash on stack corruption and WDR
+
+// Online crash dumper
+//#define EMERGENCY_SERIAL_DUMP   // Request dump via serial on stack corruption and WDR
+//#define MENU_SERIAL_DUMP        // Enable "Memory dump" in Settings menu
+
+// Filament sensor
+#define FILAMENT_SENSOR
+#define FILAMENT_SENSOR_TYPE FSENSOR_IR_ANALOG
+#define FSENSOR_PROBING
+
+// 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      10
+#define MINTEMP_MINAMBIENT_RAW  1002
+
+#define DEBUG_DCODE2
+#define DEBUG_DCODE3
+#define DEBUG_DCODE6
+
+//#define DEBUG_PULLUP_CRASH //Test Pullup crash
+
+//#define DEBUG_BUILD
+//#define DEBUG_SEC_LANG   //secondary language debug output at startup
+//#define DEBUG_XFLASH   //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_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_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 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 ALLOW_ALL_MRES
+
+#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
+
+// experimental setting for E-motor cooler operation
+#define TMC2130_PWM_GRAD_Ecool  84        // PWMCONF 730mA @ 375mm/min  970mA phase peak at feedrate 900mm/min
+#define TMC2130_PWM_AMPL_Ecool  43        // PWMCONF 500mA phase peak at feedrate 10 mm/min
+#define TMC2130_PWM_AUTO_Ecool  0         // 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_TPWMTHRS_E 403      // Switch extruder from StealthChop to SpreadCycle at around 900mm/min
+#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
+#define TMC2130_SG_THRS_HOME {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E}
+
+//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_FARM 36             // E 805 mA peak for ECool/farm mode
+#define TMC2130_CURRENTS_R {16, 20, 35, 30}  // default running currents for all axes
+#define TMC2130_CURRENTS_R_HOME {8, 10, 20, 18}  // homing running currents for all axes
+
+#define TMC2130_STEALTH_Z
+#define TMC2130_DEDGE_STEPPING
+
+//#define TMC2130_SERVICE_CODES_M910_M918
+
+//#define TMC2130_DEBUG
+//#define TMC2130_DEBUG_WR
+//#define TMC2130_DEBUG_RD
+
+
+/*------------------------------------
+ EXTRUDER SETTINGS
+ *------------------------------------*/
+
+// Mintemps
+#define HEATER_0_MINTEMP 10
+#define HEATER_MINTEMP_DELAY 15000                // [ms] ! if changed, check maximal allowed value @ ShortTimer
+#if HEATER_MINTEMP_DELAY>USHRT_MAX
+#error "Check maximal allowed value @ ShortTimer (see HEATER_MINTEMP_DELAY definition)"
+#endif
+#define BED_MINTEMP 10
+#define BED_MINTEMP_DELAY 50000                   // [ms] ! if changed, check maximal allowed value @ ShortTimer
+#if BED_MINTEMP_DELAY>USHRT_MAX
+#error "Check maximal allowed value @ ShortTimer (see BED_MINTEMP_DELAY definition)"
+#endif
+#define SUPERPINDA_SUPPORT
+#define PINDA_MINTEMP 10
+//#define PINDA_TEMP_COMP //Used to enable SuperPINDA toggle menu/function
+#define AMBIENT_MINTEMP -30
+
+// 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 BED_MAXTEMP 125
+#define AMBIENT_MAXTEMP 100
+
+#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 E3D REVO
+#define  DEFAULT_Kp 25.00
+#define  DEFAULT_Ki 4.8
+#define  DEFAULT_Kd 32.6
+#endif
+
+// Extrude mintemp
+#define EXTRUDE_MINTEMP 175
+
+// Extruder cooling fans
+#define EXTRUDER_0_AUTO_FAN_PIN   8
+#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
+#define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
+#define EXTRUDER_ALTFAN_DETECT
+#define EXTRUDER_ALTFAN_SPEED_SILENT 128
+
+#define FANCHECK_AUTO_PRINT_FAN_THRS 70 //[RPS] - Used during selftest to identify swapped fans automatically
+#define FANCHECK_AUTO_FAIL_THRS 20 //[RPS] - Used during selftest to identify a faulty fan
+
+/*------------------------------------
+ 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 0
+
+#define FILAMENTCHANGE_FIRSTFEED 70 //E distance in mm for fast filament loading sequence used used in filament change (M600)
+#define FILAMENTCHANGE_FINALFEED 25 //E distance in mm for slow filament loading sequence used used in filament change (M600) and filament load (M701) 
+#define FILAMENTCHANGE_RECFEED 5
+
+#define FILAMENTCHANGE_XYFEED 50
+#define FILAMENTCHANGE_EFEED_FIRST 20 // feedrate in mm/s for fast filament loading sequence used in filament change (M600)
+#define FILAMENTCHANGE_EFEED_FINAL 3.3f // feedrate in mm/s for slow filament loading sequence used in filament change (M600) and filament load (M701) 
+//#define FILAMENTCHANGE_RFEED 400
+#define FILAMENTCHANGE_RFEED 7000 / 60
+#define FILAMENTCHANGE_EXFEED 2
+#define FILAMENTCHANGE_ZFEED 15
+
+#endif
+
+/*------------------------------------
+ ADDITIONAL FEATURES SETTINGS
+ *------------------------------------*/
+
+// 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
+
+// model-based temperature check
+#define THERMAL_MODEL 1              // enable model-based temperature checks
+#define THERMAL_MODEL_DEBUG 1        // extended runtime logging
+
+#define THERMAL_MODEL_CAL_C_low 5    // C estimation lower limit
+#define THERMAL_MODEL_CAL_C_high 20  // C estimation upper limit
+#define THERMAL_MODEL_CAL_C_thr 0.01 // C estimation iteration threshold
+#define THERMAL_MODEL_CAL_C_itr 30   // C estimation iteration limit
+
+#define THERMAL_MODEL_CAL_R_low 5    // R estimation lower limit
+#define THERMAL_MODEL_CAL_R_high 50  // R estimation upper limit
+#define THERMAL_MODEL_CAL_R_thr 0.01 // R estimation iteration threshold
+#define THERMAL_MODEL_CAL_R_itr 30   // R estimation iteration limit
+
+#define THERMAL_MODEL_CAL_T_low 50   // Default calibration cooling temperature (C)
+#define THERMAL_MODEL_CAL_T_high 230 // Default calibration working temperature (C)
+
+#define THERMAL_MODEL_Ta_corr -7     // Default ambient temperature correction
+
+#include "thermal_model/e3d_REVO.h"
+#define THERMAL_MODEL_DEFAULT E3D_REVO // Default E3D REVO model parameters
+
+
+/*------------------------------------
+ MOTOR CURRENT SETTINGS
+ *------------------------------------*/
+
+// Motor Current settings for Einsy/tmc = 0..63
+#define MOTOR_CURRENT_PWM_RANGE 63
+
+/*------------------------------------
+ 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 24
+#define MESH_MAX_X 228
+#define MESH_MIN_Y 6
+#define MESH_MAX_Y 210
+
+// 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
+
+// Maximum bed level correction value
+#define BED_ADJUSTMENT_UM_MAX 100
+
+#define MESH_HOME_Z_CALIB 0.2
+#define MESH_HOME_Z_SEARCH 5.0f           // 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
+
+/*-----------------------------------
+ PREHEAT SETTINGS
+ *------------------------------------*/
+
+#define PLA_PREHEAT_HOTEND_TEMP 215
+#define PLA_PREHEAT_HPB_TEMP 60
+
+#define PVB_PREHEAT_HOTEND_TEMP 215
+#define PVB_PREHEAT_HPB_TEMP 75
+
+#define ASA_PREHEAT_HOTEND_TEMP 260
+#define ASA_PREHEAT_HPB_TEMP 105
+
+#define PC_PREHEAT_HOTEND_TEMP 275
+#define PC_PREHEAT_HPB_TEMP 110
+
+#define PA_PREHEAT_HOTEND_TEMP 275
+#define PA_PREHEAT_HPB_TEMP 90
+
+#define ABS_PREHEAT_HOTEND_TEMP 255
+#define ABS_PREHEAT_HPB_TEMP 100
+
+#define HIPS_PREHEAT_HOTEND_TEMP 220
+#define HIPS_PREHEAT_HPB_TEMP 100
+
+#define PP_PREHEAT_HOTEND_TEMP 254
+#define PP_PREHEAT_HPB_TEMP 100
+
+#define PET_PREHEAT_HOTEND_TEMP 230
+#define PET_PREHEAT_HPB_TEMP 85
+
+#define FLEX_PREHEAT_HOTEND_TEMP 240
+#define FLEX_PREHEAT_HPB_TEMP 50
+
+/*------------------------------------
+ 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
+#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 STACK_GUARD_MARGIN     32
+
+#define MAX_BED_TEMP_CALIBRATION 50
+#define MAX_HOTEND_TEMP_CALIBRATION 50
+
+#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 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
+// When powered off during PP recovery, the Z axis position can still be re-adjusted. In this case
+// we just need to shift to the nearest fullstep, but we need a move which is at least
+// "dropsegments" steps long. All the above rules still need to apply.
+#define UVLO_TINY_Z_AXIS_SHIFT 0.16
+// 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_CONFIG_FILE "mmu2/variants/config_MMU2S.h"
+#define MMU_FILAMENT_COUNT 5
+//#define MMU_FORCE_STEALTH_MODE
+#define MMU_HWRESET
+#define MMU_DEBUG //print communication between MMU and printer on serial
+#define MMU_HAS_CUTTER
+
+// This is experimental feature requested by our test department.
+// There is no known use for ordinary user. If enabled by this macro
+// and enabled from printer menu (not enabled by default). It cuts filament
+// every time when switching filament from gcode. MMU_HAS_CUTTER needs to be
+// defined.
+
+//#define MMU_ALWAYS_CUT
+
+// MMU Error pause position
+#define MMU_ERR_X_PAUSE_POS 125
+#define MMU_ERR_Y_PAUSE_POS 0
+#define MMU_ERR_Z_PAUSE_LIFT 20
+
+// Default Arc Interpolation Settings (Now configurable via M214)
+#define DEFAULT_N_ARC_CORRECTION       25 // Number of interpolated segments between corrections.
+/* A value of 1 or less for N_ARC_CORRECTION will trigger the use of Sin and Cos for every arc, which will improve accuracy at the
+   cost of performance*/
+#define DEFAULT_MM_PER_ARC_SEGMENT     1.0f // REQUIRED - The enforced maximum length of an arc segment
+#define DEFAULT_MIN_MM_PER_ARC_SEGMENT 0.5f //the enforced minimum length of an interpolated segment
+   /*  MIN_MM_PER_ARC_SEGMENT Must be smaller than MM_PER_ARC_SEGMENT.  Only has an effect if MIN_ARC_SEGMENTS > 0
+       or ARC_SEGMENTS_PER_SEC > 0 .  If both MIN_ARC_SEGMENTS and ARC_SEGMENTS_PER_SEC is defined, the minimum
+       calculated segment length is used. */
+#define DEFAULT_MIN_ARC_SEGMENTS 20 // The enforced minimum segments in a full circle of the same radius.  Set to 0 to disable
+#define DEFAULT_ARC_SEGMENTS_PER_SEC 0 // Use feedrate to choose segment length. Set to 0 to disable
+
+#endif //__CONFIGURATION_PRUSA_H

Firmware/variants/1_75mm_MK3S-EINSy10a-E3DREVO_HF_60W.h

@@ -0,0 +1,676 @@
+#ifndef CONFIGURATION_PRUSA_H
+#define CONFIGURATION_PRUSA_H
+
+#include <limits.h>
+#include "printers.h"
+/*------------------------------------
+ GENERAL SETTINGS
+ *------------------------------------*/
+
+// Printer revision
+#define PRINTER_TYPE PRINTER_MK3S
+#define PRINTER_NAME PRINTER_MK3S_NAME
+#define PRINTER_NAME_ALTERNATE PRINTER_MK3_NAME //the other similar printer to this.
+#define PRINTER_MMU_TYPE PRINTER_MK3S_MMU3
+#define PRINTER_MMU_NAME PRINTER_MK3S_MMU3_NAME
+#define FILAMENT_SIZE "1_75mm_MK3S"
+#define NOZZLE_TYPE "E3DREVO_HF_60W"
+
+// Printer name
+#define CUSTOM_MENDEL_NAME "Prusa MK3S-RHF60"
+
+// Electronics
+#define MOTHERBOARD BOARD_EINSY_1_0a
+#define STEEL_SHEET
+#define HAS_SECOND_SERIAL_PORT
+
+// PSU
+// #define PSU_Delta                                 // uncomment if DeltaElectronics PSU installed
+
+
+// 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   {100,100,3200/8,280}
+
+// 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
+
+// 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
+#define Z_CANCEL_LIFT 50
+
+//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 (M204P)
+#define DEFAULT_RETRACT_ACCELERATION  1250   // X, Y, Z and E max acceleration in mm/s^2 for retracts (M204R)
+#define DEFAULT_TRAVEL_ACCELERATION   1250   // X, Y, Z and E max acceleration in mm/s^2 for travels (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
+
+// Offline crash dumper
+#define XFLASH_DUMP     // enable dump functionality (including D20/D21/D22)
+#define MENU_DUMP       // enable "Memory dump" in Settings menu
+#define EMERGENCY_DUMP  // trigger crash on stack corruption and WDR
+
+// Online crash dumper
+//#define EMERGENCY_SERIAL_DUMP   // Request dump via serial on stack corruption and WDR
+//#define MENU_SERIAL_DUMP        // Enable "Memory dump" in Settings menu
+
+// Filament sensor
+#define FILAMENT_SENSOR
+#define FILAMENT_SENSOR_TYPE FSENSOR_IR_ANALOG
+#define FSENSOR_PROBING
+
+// 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      10
+#define MINTEMP_MINAMBIENT_RAW  1002
+
+#define DEBUG_DCODE2
+#define DEBUG_DCODE3
+#define DEBUG_DCODE6
+
+//#define DEBUG_PULLUP_CRASH //Test Pullup crash
+
+//#define DEBUG_BUILD
+//#define DEBUG_SEC_LANG   //secondary language debug output at startup
+//#define DEBUG_XFLASH   //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_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_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 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 ALLOW_ALL_MRES
+
+#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
+
+// experimental setting for E-motor cooler operation
+#define TMC2130_PWM_GRAD_Ecool  84        // PWMCONF 730mA @ 375mm/min  970mA phase peak at feedrate 900mm/min
+#define TMC2130_PWM_AMPL_Ecool  43        // PWMCONF 500mA phase peak at feedrate 10 mm/min
+#define TMC2130_PWM_AUTO_Ecool  0         // 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_TPWMTHRS_E 403      // Switch extruder from StealthChop to SpreadCycle at around 900mm/min
+#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
+#define TMC2130_SG_THRS_HOME {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E}
+
+//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_FARM 36             // E 805 mA peak for ECool/farm mode
+#define TMC2130_CURRENTS_R {16, 20, 35, 30}  // default running currents for all axes
+#define TMC2130_CURRENTS_R_HOME {8, 10, 20, 18}  // homing running currents for all axes
+
+#define TMC2130_STEALTH_Z
+#define TMC2130_DEDGE_STEPPING
+
+//#define TMC2130_SERVICE_CODES_M910_M918
+
+//#define TMC2130_DEBUG
+//#define TMC2130_DEBUG_WR
+//#define TMC2130_DEBUG_RD
+
+
+/*------------------------------------
+ EXTRUDER SETTINGS
+ *------------------------------------*/
+
+// Mintemps
+#define HEATER_0_MINTEMP 10
+#define HEATER_MINTEMP_DELAY 15000                // [ms] ! if changed, check maximal allowed value @ ShortTimer
+#if HEATER_MINTEMP_DELAY>USHRT_MAX
+#error "Check maximal allowed value @ ShortTimer (see HEATER_MINTEMP_DELAY definition)"
+#endif
+#define BED_MINTEMP 10
+#define BED_MINTEMP_DELAY 50000                   // [ms] ! if changed, check maximal allowed value @ ShortTimer
+#if BED_MINTEMP_DELAY>USHRT_MAX
+#error "Check maximal allowed value @ ShortTimer (see BED_MINTEMP_DELAY definition)"
+#endif
+#define SUPERPINDA_SUPPORT
+#define PINDA_MINTEMP 10
+//#define PINDA_TEMP_COMP //Used to enable SuperPINDA toggle menu/function
+#define AMBIENT_MINTEMP -30
+
+// 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 BED_MAXTEMP 125
+#define AMBIENT_MAXTEMP 100
+
+#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 E3D REVO HF 60W
+#define  MAX_OVERSHOOT_PID_AUTOTUNE 30
+#define  DEFAULT_Kp 15.00
+#define  DEFAULT_Ki 2.9
+#define  DEFAULT_Kd 19.2
+#endif
+
+// Extrude mintemp
+#define EXTRUDE_MINTEMP 175
+
+// Extruder cooling fans
+#define EXTRUDER_0_AUTO_FAN_PIN   8
+#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
+#define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
+#define EXTRUDER_ALTFAN_DETECT
+#define EXTRUDER_ALTFAN_SPEED_SILENT 128
+
+#define FANCHECK_AUTO_PRINT_FAN_THRS 70 //[RPS] - Used during selftest to identify swapped fans automatically
+#define FANCHECK_AUTO_FAIL_THRS 20 //[RPS] - Used during selftest to identify a faulty fan
+
+/*------------------------------------
+ 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 0
+
+#define FILAMENTCHANGE_FIRSTFEED 70 //E distance in mm for fast filament loading sequence used used in filament change (M600)
+#define FILAMENTCHANGE_FINALFEED 25 //E distance in mm for slow filament loading sequence used used in filament change (M600) and filament load (M701) 
+#define FILAMENTCHANGE_RECFEED 5
+
+#define FILAMENTCHANGE_XYFEED 50
+#define FILAMENTCHANGE_EFEED_FIRST 20 // feedrate in mm/s for fast filament loading sequence used in filament change (M600)
+#define FILAMENTCHANGE_EFEED_FINAL 3.3f // feedrate in mm/s for slow filament loading sequence used in filament change (M600) and filament load (M701) 
+//#define FILAMENTCHANGE_RFEED 400
+#define FILAMENTCHANGE_RFEED 7000 / 60
+#define FILAMENTCHANGE_EXFEED 2
+#define FILAMENTCHANGE_ZFEED 15
+
+#endif
+
+/*------------------------------------
+ ADDITIONAL FEATURES SETTINGS
+ *------------------------------------*/
+
+// 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
+
+// model-based temperature check
+#define THERMAL_MODEL 1              // enable model-based temperature checks
+#define THERMAL_MODEL_DEBUG 1        // extended runtime logging
+
+#define THERMAL_MODEL_CAL_C_low 5    // C estimation lower limit
+#define THERMAL_MODEL_CAL_C_high 20  // C estimation upper limit
+#define THERMAL_MODEL_CAL_C_thr 0.01 // C estimation iteration threshold
+#define THERMAL_MODEL_CAL_C_itr 30   // C estimation iteration limit
+
+#define THERMAL_MODEL_CAL_R_low 5    // R estimation lower limit
+#define THERMAL_MODEL_CAL_R_high 50  // R estimation upper limit
+#define THERMAL_MODEL_CAL_R_thr 0.01 // R estimation iteration threshold
+#define THERMAL_MODEL_CAL_R_itr 30   // R estimation iteration limit
+
+#define THERMAL_MODEL_CAL_T_low 50   // Default calibration cooling temperature (C)
+#define THERMAL_MODEL_CAL_T_high 230 // Default calibration working temperature (C)
+
+#define THERMAL_MODEL_Ta_corr -7     // Default ambient temperature correction
+
+#include "thermal_model/e3d_REVO_HF_60W.h"
+#define THERMAL_MODEL_DEFAULT E3D_REVO_HF_60W // Default E3D REVO HF 60W model parameters
+
+
+/*------------------------------------
+ MOTOR CURRENT SETTINGS
+ *------------------------------------*/
+
+// Motor Current settings for Einsy/tmc = 0..63
+#define MOTOR_CURRENT_PWM_RANGE 63
+
+/*------------------------------------
+ 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 24
+#define MESH_MAX_X 228
+#define MESH_MIN_Y 6
+#define MESH_MAX_Y 210
+
+// 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
+
+// Maximum bed level correction value
+#define BED_ADJUSTMENT_UM_MAX 100
+
+#define MESH_HOME_Z_CALIB 0.2
+#define MESH_HOME_Z_SEARCH 5.0f           // 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
+
+/*-----------------------------------
+ PREHEAT SETTINGS
+ *------------------------------------*/
+
+#define PLA_PREHEAT_HOTEND_TEMP 215
+#define PLA_PREHEAT_HPB_TEMP 60
+
+#define PVB_PREHEAT_HOTEND_TEMP 215
+#define PVB_PREHEAT_HPB_TEMP 75
+
+#define ASA_PREHEAT_HOTEND_TEMP 260
+#define ASA_PREHEAT_HPB_TEMP 105
+
+#define PC_PREHEAT_HOTEND_TEMP 275
+#define PC_PREHEAT_HPB_TEMP 110
+
+#define PA_PREHEAT_HOTEND_TEMP 275
+#define PA_PREHEAT_HPB_TEMP 90
+
+#define ABS_PREHEAT_HOTEND_TEMP 255
+#define ABS_PREHEAT_HPB_TEMP 100
+
+#define HIPS_PREHEAT_HOTEND_TEMP 220
+#define HIPS_PREHEAT_HPB_TEMP 100
+
+#define PP_PREHEAT_HOTEND_TEMP 254
+#define PP_PREHEAT_HPB_TEMP 100
+
+#define PET_PREHEAT_HOTEND_TEMP 230
+#define PET_PREHEAT_HPB_TEMP 85
+
+#define FLEX_PREHEAT_HOTEND_TEMP 240
+#define FLEX_PREHEAT_HPB_TEMP 50
+
+/*------------------------------------
+ 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
+#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 STACK_GUARD_MARGIN     32
+
+#define MAX_BED_TEMP_CALIBRATION 50
+#define MAX_HOTEND_TEMP_CALIBRATION 50
+
+#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 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
+// When powered off during PP recovery, the Z axis position can still be re-adjusted. In this case
+// we just need to shift to the nearest fullstep, but we need a move which is at least
+// "dropsegments" steps long. All the above rules still need to apply.
+#define UVLO_TINY_Z_AXIS_SHIFT 0.16
+// 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_CONFIG_FILE "mmu2/variants/config_MMU2S.h"
+#define MMU_FILAMENT_COUNT 5
+//#define MMU_FORCE_STEALTH_MODE
+#define MMU_HWRESET
+#define MMU_DEBUG //print communication between MMU and printer on serial
+#define MMU_HAS_CUTTER
+
+// This is experimental feature requested by our test department.
+// There is no known use for ordinary user. If enabled by this macro
+// and enabled from printer menu (not enabled by default). It cuts filament
+// every time when switching filament from gcode. MMU_HAS_CUTTER needs to be
+// defined.
+
+//#define MMU_ALWAYS_CUT
+
+// MMU Error pause position
+#define MMU_ERR_X_PAUSE_POS 125
+#define MMU_ERR_Y_PAUSE_POS 0
+#define MMU_ERR_Z_PAUSE_LIFT 20
+
+// Default Arc Interpolation Settings (Now configurable via M214)
+#define DEFAULT_N_ARC_CORRECTION       25 // Number of interpolated segments between corrections.
+/* A value of 1 or less for N_ARC_CORRECTION will trigger the use of Sin and Cos for every arc, which will improve accuracy at the
+   cost of performance*/
+#define DEFAULT_MM_PER_ARC_SEGMENT     1.0f // REQUIRED - The enforced maximum length of an arc segment
+#define DEFAULT_MIN_MM_PER_ARC_SEGMENT 0.5f //the enforced minimum length of an interpolated segment
+   /*  MIN_MM_PER_ARC_SEGMENT Must be smaller than MM_PER_ARC_SEGMENT.  Only has an effect if MIN_ARC_SEGMENTS > 0
+       or ARC_SEGMENTS_PER_SEC > 0 .  If both MIN_ARC_SEGMENTS and ARC_SEGMENTS_PER_SEC is defined, the minimum
+       calculated segment length is used. */
+#define DEFAULT_MIN_ARC_SEGMENTS 20 // The enforced minimum segments in a full circle of the same radius.  Set to 0 to disable
+#define DEFAULT_ARC_SEGMENTS_PER_SEC 0 // Use feedrate to choose segment length. Set to 0 to disable
+
+#endif //__CONFIGURATION_PRUSA_H

Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h

@@ -11,8 +11,8 @@
 #define PRINTER_TYPE PRINTER_MK3S
 #define PRINTER_NAME PRINTER_MK3S_NAME
 #define PRINTER_NAME_ALTERNATE PRINTER_MK3_NAME //the other similar printer to this.
-#define PRINTER_MMU_TYPE PRINTER_MK3S_MMU2
-#define PRINTER_MMU_NAME PRINTER_MK3S_MMU2_NAME
+#define PRINTER_MMU_TYPE PRINTER_MK3S_MMU3
+#define PRINTER_MMU_NAME PRINTER_MK3S_MMU3_NAME
 #define FILAMENT_SIZE "1_75mm_MK3S"
 #define NOZZLE_TYPE "E3Dv6full"
 
@@ -40,9 +40,7 @@
  *------------------------------------*/
 
 // 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.
@@ -362,7 +360,7 @@
 #define FILAMENTCHANGE_YPOS 0
 #define FILAMENTCHANGE_ZADD 2
 #define FILAMENTCHANGE_FIRSTRETRACT -2
-#define FILAMENTCHANGE_FINALRETRACT -80
+#define FILAMENTCHANGE_FINALRETRACT 0
 
 #define FILAMENTCHANGE_FIRSTFEED 70 //E distance in mm for fast filament loading sequence used used in filament change (M600)
 #define FILAMENTCHANGE_FINALFEED 25 //E distance in mm for slow filament loading sequence used used in filament change (M600) and filament load (M701) 
@@ -390,26 +388,26 @@
 #define TEMP_RUNAWAY_EXTRUDER_TIMEOUT 45
 
 // model-based temperature check
-#define TEMP_MODEL 1              // enable model-based temperature checks
-#define TEMP_MODEL_DEBUG 1        // extended runtime logging
+#define THERMAL_MODEL 1              // enable model-based temperature checks
+#define THERMAL_MODEL_DEBUG 1        // extended runtime logging
 
-#define TEMP_MODEL_CAL_C_low 5    // C estimation lower limit
-#define TEMP_MODEL_CAL_C_high 20  // C estimation upper limit
-#define TEMP_MODEL_CAL_C_thr 0.01 // C estimation iteration threshold
-#define TEMP_MODEL_CAL_C_itr 30   // C estimation iteration limit
+#define THERMAL_MODEL_CAL_C_low 5    // C estimation lower limit
+#define THERMAL_MODEL_CAL_C_high 20  // C estimation upper limit
+#define THERMAL_MODEL_CAL_C_thr 0.01 // C estimation iteration threshold
+#define THERMAL_MODEL_CAL_C_itr 30   // C estimation iteration limit
 
-#define TEMP_MODEL_CAL_R_low 5    // R estimation lower limit
-#define TEMP_MODEL_CAL_R_high 50  // R estimation upper limit
-#define TEMP_MODEL_CAL_R_thr 0.01 // R estimation iteration threshold
-#define TEMP_MODEL_CAL_R_itr 30   // R estimation iteration limit
+#define THERMAL_MODEL_CAL_R_low 5    // R estimation lower limit
+#define THERMAL_MODEL_CAL_R_high 50  // R estimation upper limit
+#define THERMAL_MODEL_CAL_R_thr 0.01 // R estimation iteration threshold
+#define THERMAL_MODEL_CAL_R_itr 30   // R estimation iteration limit
 
-#define TEMP_MODEL_CAL_T_low 50   // Default calibration cooling temperature (C)
-#define TEMP_MODEL_CAL_T_high 230 // Default calibration working temperature (C)
+#define THERMAL_MODEL_CAL_T_low 50   // Default calibration cooling temperature (C)
+#define THERMAL_MODEL_CAL_T_high 230 // Default calibration working temperature (C)
 
-#define TEMP_MODEL_Ta_corr -7     // Default ambient temperature correction
+#define THERMAL_MODEL_Ta_corr -7     // Default ambient temperature correction
 
-#include "temp_model/e3d_v6.h"
-#define TEMP_MODEL_DEFAULT E3D_V6 // Default model parameters
+#include "thermal_model/e3d_v6.h"
+#define THERMAL_MODEL_DEFAULT E3D_V6 // Default model parameters
 
 
 /*------------------------------------
@@ -600,9 +598,6 @@
 #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
 

Firmware/variants/README.md

@@ -0,0 +1,112 @@
+With FW 3.12.0 we introduced the Thermal model see [here](https://blog.prusa3d.com/mk3s-3-12-beta-firmware-new-thermal-model-protection-and-blob-detection_71230).
+This have been finetuned for the stock Prusa MK3/S and may cause issues with 3rd party hotends.
+
+This README is a guide for the community and the 3rd party companies to prepare/compile/build their own firmware.
+
+Thanks to E3D and the some REVO community members see [here](https://github.com/prusa3d/Prusa-Firmware/issues/4105) and [here](https://github.com/prusa3d/Prusa-Firmware/issues/3636) we have been able to provide the source code to build the E3D REVO firmware.
+
+There are other 3rd party hotends which the community uses.
+
+Steps to add a new 3rd party hotend:
+
+1. Make a copy of the `/Firmware/variant/1_75mm_MK3S-EINSy10a-E3Dv6full.h` with a new name `1_75mm_MK3S-EINSy10a-<3rd party hotend:16>.h`
+  - Example for the E3D REVO HF 60W: `/Firmware/variant/1_75mm_MK3S-EINSy10a-E3DREVO_HF_60W.h`
+2. Open the new variant file.
+3. Search for `#define NOZZLE_TYPE`
+4. Change `"E3Dv6full"` to  `"<3rd party hotend:16>"`
+  ```
+  ...
+  #define NOZZLE_TYPE "E3Dv6full"
+  ...
+  ```
+  - Example
+  ```
+  ...
+  #define NOZZLE_TYPE "E3DREVO_HF_60W"
+  ...
+  ```
+5. Search `#define CUSTOM_MENDEL_NAME`
+6. Change  `"Prusa i3 MK3S"` to `"Prusa i3 MK3S-<Short description:2>"`
+  - `CUSTOM_MENDEL_NAME` string cannot exceed 16 chars in total!
+  ```
+  ...
+  #define CUSTOM_MENDEL_NAME "Prusa i3 MK3S"
+  ...
+  ```
+  - Example
+  ```
+  ...
+#define CUSTOM_MENDEL_NAME "Prusa i3 MK3S-RH"
+  ...
+  ```
+  ```
+  ...
+#define CUSTOM_MENDEL_NAME "Prusa MK3S-RHF60"
+  ...
+  ```
+7. Add new PID values for the new Hotend type.
+  - Search for `// Define PID constants for extruder`
+  - Change `extruder` to new hotend name ` <3rd party hotend:16>` and update the new hotend PID default values
+  ```
+  // Define PID constants for extruder
+  #define  DEFAULT_Kp 16.13
+  #define  DEFAULT_Ki 1.1625
+  #define  DEFAULT_Kd 56.23
+  #endif
+  ```
+Example:
+  ```
+  ...
+  // Define PID constants for E3D REVO HF 60W
+  #define  DEFAULT_Kp 23.23
+  #define  DEFAULT_Ki 1.1
+  #define  DEFAULT_Kd 55.25
+  #endif
+  ...
+  ```
+8. Prepare for new 3rd party hotend TM value file
+  - Search for `#include "thermal_model/e3d_v6.h"`
+  - Change the `e3d_v6.h` to `<3rd party hotend:16>.h`
+  - Change below the `E3D_V6` to `<3rd party hotend:16>`
+  ```
+  ...
+  #include "thermal_model/e3d_v6.h"
+  #define THERMAL_MODEL_DEFAULT E3D_V6 // Default E3D v6 model parameters
+  ...
+  ```
+  Example:
+
+  ```
+  ...
+  #include "thermal_model/e3d_REVO_HF_60W.h"
+  #define THERMAL_MODEL_DEFAULT E3D_REVO_HF_60W // Default E3D REVO HF 60W model parameters
+  ...
+  ```
+9. Save and close the new variant file
+10. Copy/paste `Firmware/thermal_model/e3d_v6.h` as `Firmware/thermal_model/<3rd party hotend:16>.h`
+  - Example: `Firmware/thermal_model/e3d_REVO_HF_60W.h`
+11. Open the new file `Firmware/thermal_model/<3rd party hotend:16>.h`
+12. Search `E3D_V6` and replace it with what you have used in `#defined THERMAL_MODEL_DEFAULT`
+  - Example
+  ```
+  #pragma once
+
+  #define THERMAL_MODEL_E3D_REVO_HF_60W_VER 1      // model parameters version
+
+  #define THERMAL_MODEL_E3D_REVO_HF_60W_P 60.      // heater power (W)
+  #define THERMAL_MODEL_E3D_REVO_HF_60W_U -0.0014  // linear temperature coefficient (W/K/power)
+  #define THERMAL_MODEL_E3D_REVO_HF_60W_V 1.05     // linear temperature intercept (W/power)
+
+  #define THERMAL_MODEL_E3D_REVO_HF_60W_C 8.77     // initial guess for heatblock capacitance (J/K)
+  #define THERMAL_MODEL_E3D_REVO_HF_60W_R 25.3     // initial guess for heatblock resistance (K/W)
+
+  #define THERMAL_MODEL_E3D_REVO_HF_60W_fS 0.15    // sim. 1st order IIR filter factor (f=100/27)
+  #define THERMAL_MODEL_E3D_REVO_HF_60W_LAG 270    // sim. response lag (ms, 0-2160)
+
+  #define THERMAL_MODEL_E3D_REVO_HF_60W_W 1.2      // Default warning threshold (K/s)
+  #define THERMAL_MODEL_E3D_REVO_HF_60W_E 1.74     // Default error threshold (K/s)
+
+  // fall-back resistance vector (R0-15)
+  #define THERMAL_MODEL_E3D_REVO_HF_60W_Rv {THERMAL_MODEL_E3D_REVO_HF_60W_R, 23.9, 22.5, 19.6, 19.0, 18.3, 17.7, 17.1, 16.8, 16.5, 16.3, 16.0, 15.9, 15.7, 15.6, 15.4}
+
+```

Firmware/variants/obsolete/1_75mm_MK2-RAMBo10a-E3Dv6full.h

@@ -149,7 +149,7 @@ CHANGE FILAMENT SETTINGS
 #define FILAMENTCHANGE_YPOS 0
 #define FILAMENTCHANGE_ZADD 2
 #define FILAMENTCHANGE_FIRSTRETRACT -2
-#define FILAMENTCHANGE_FINALRETRACT -80
+#define FILAMENTCHANGE_FINALRETRACT 0
 
 #define FILAMENTCHANGE_FIRSTFEED 70 //E distance in mm for fast filament loading sequence used used in filament change (M600)
 #define FILAMENTCHANGE_FINALFEED 50 //E distance in mm for slow filament loading sequence used used in filament change (M600) and filament load (M701) 
@@ -372,9 +372,6 @@ THERMISTORS SETTINGS
 #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
 

Firmware/variants/obsolete/1_75mm_MK2-RAMBo13a-E3Dv6full.h

@@ -148,7 +148,7 @@ CHANGE FILAMENT SETTINGS
 #define FILAMENTCHANGE_YPOS 0
 #define FILAMENTCHANGE_ZADD 2
 #define FILAMENTCHANGE_FIRSTRETRACT -2
-#define FILAMENTCHANGE_FINALRETRACT -80
+#define FILAMENTCHANGE_FINALRETRACT 0
 
 #define FILAMENTCHANGE_FIRSTFEED 70 //E distance in mm for fast filament loading sequence used used in filament change (M600)
 #define FILAMENTCHANGE_FINALFEED 50 //E distance in mm for slow filament loading sequence used used in filament change (M600) and filament load (M701) 
@@ -371,9 +371,6 @@ THERMISTORS SETTINGS
 #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
 

Firmware/xyzcal.cpp

@@ -535,7 +535,7 @@ void go_start_stop(uint8_t axes, uint8_t dir, int16_t acc, uint16_t min_delay_us
 /// moves X, Y, Z one after each other
 /// starts and ends at 0 speed
 void go_manhattan(int16_t x, int16_t y, int16_t z, int16_t acc, uint16_t min_delay_us){
-	int32_t length;
+	int16_t length;
 
 	// DBG(_n("x %d -> %d, "), x, _X);
 	length = x - _X;

lib/Catch2/src/catch2/catch_test_case_info.hpp

@@ -15,6 +15,7 @@
 #include <catch2/internal/catch_unique_ptr.hpp>
 
 
+#include <cstdint>
 #include <string>
 #include <vector>
 

lib/Catch2/src/catch2/internal/catch_string_manip.hpp

@@ -10,6 +10,7 @@
 
 #include <catch2/internal/catch_stringref.hpp>
 
+#include <cstdint>
 #include <string>
 #include <iosfwd>
 #include <vector>

lib/Catch2/src/catch2/internal/catch_xmlwriter.cpp

@@ -11,6 +11,7 @@
 #include <catch2/internal/catch_enforce.hpp>
 #include <catch2/internal/catch_xmlwriter.hpp>
 
+#include <cstdint>
 #include <iomanip>
 #include <type_traits>
 

tools/README.md

@@ -67,9 +67,9 @@ Set the required TTY flags on the specified port to avoid reset-on-connect for *
 
 ### ``tml_decode``
 
-Decode (or plot) the temperature model trace from a serial log file.
+Decode (or plot) the thermal model trace from a serial log file.
 
-The TML trace needs to be enabled by issuing "M155 S1 C3" and "D70 S1" to the printer, generally followed by a temperature model calibration request "M310 A F0".
+The TML trace needs to be enabled by issuing "M155 S1 C3" and "D70 S1" to the printer, generally followed by a thermal model calibration request "M310 A F0".
 
 The parser is not strict, and will consume most serial logs with/without timestamps.