ToolChange: update unit tests

LEDs: unify common app-logic behavior into functions
In the entire code base, we basically use 4 LED scenarios: - all off - active slot green on - active slot green blinking - active slot red blinking Compacting this behaviour into 4 functions saves in total ~140B - which is huge. It's not an entirely clean solution, LEDs should not know anything about globals::ActiveSlot, but the savings are more important. Ideally, such an optimization could have been done by the compiler.
2025-12-01 10:48:28 +01:00 · 2025-12-01 10:48:28 +01:00 · 2025-12-01 10:48:28 +01:00 · 2025-12-01 10:48:28 +01:00 · 2025-12-01 10:48:28 +01:00 · 2025-12-01 10:48:28 +01:00
71 changed files with 1131 additions and 515 deletions
--- a/.github/ISSUE_TEMPLATE/config.yml
+++ b/.github/ISSUE_TEMPLATE/config.yml
@ -0,0 +1,11 @@
+blank_issues_enabled: true
+contact_links:
+  - name: Questions and Discussions
+    url: https://github.com/prusa3d/Prusa-Firmware-MMU/discussions
+    about: Please use Discussions for questions, chat, and open-ended ideas. Be sure to search before creating a new topic, your question may already have been answered!
+  - name: Issues with an MMU3 on a Prusa MK3S/MK3S+
+    url: https://github.com/prusa3d/Prusa-Firmware/issues
+    about: If you have an issue or bug pertaining to the MMU3 on an 8-bit Prusa Printer, create it here.
+  - name: Issues with an MMU3 on a Prusa MK3.9/MK4
+    url: https://github.com/prusa3d/Prusa-Firmware-Buddy/issues
+    about: If you have an issue or bug pertaining to the MMU3 on a 32-bit Prusa Printer, create it here.
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@ -0,0 +1,74 @@
+name: ci-build
+
+on:
+  pull_request:
+    branches:
+    - '*'
+  push:
+    branches: [ main, MMU_* ]
+    tags:
+    - "v*"
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+
+    steps:
+
+    # setup base required dependencies
+    - name: Setup dependencies
+      run: |
+          sudo apt-get update
+          sudo apt-get install cmake ninja-build python3-pyelftools python3-regex python3-polib
+
+    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+    - name: Checkout ${{ github.event.pull_request.head.ref }}
+      uses: actions/checkout@v4
+      if: ${{ github.event.pull_request }}
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+        submodules: true
+
+    - name: Checkout ${{ github.event.ref }}
+      uses: actions/checkout@v4
+      if: ${{ !github.event.pull_request }}
+      with:
+        ref: ${{ github.event.ref }}
+        submodules: true
+
+    - name: Cache Dependencies
+      uses: actions/cache@v4
+      id: cache-pkgs
+      with:
+          path: ".dependencies"
+          key: "build-deps-1_0_0-linux"
+
+    - name: Setup build dependencies
+      run: |
+          ./utils/bootstrap.py
+
+    - name: Cache permissions
+      run: sudo chmod -R 744 .dependencies
+
+    - name: Build
+      run: |
+          mkdir build
+          cd build
+          cmake .. -DCMAKE_TOOLCHAIN_FILE="../cmake/AvrGcc.cmake" -DCMAKE_BUILD_TYPE=Release -G Ninja
+          ninja
+
+    - name: Upload artifacts
+      if: ${{ !github.event.pull_request }}
+      uses: actions/upload-artifact@v4
+      with:
+        name: Firmware
+        path: build/*.hex
+
+    - name: RELEASE THE KRAKEN
+      if: startsWith(github.ref, 'refs/tags/v')
+      uses: "marvinpinto/action-automatic-releases@latest"
+      with:
+        repo_token: "${{ secrets.GITHUB_TOKEN }}"
+        draft: true
+        files: |
+          build/autopublish/*.hex
--- a/.github/workflows/pr-size.sh
+++ b/.github/workflows/pr-size.sh
@ -0,0 +1,50 @@
+#!/bin/sh
+MESSAGE=$1
+BASE_DIR=$2
+PR_DIR=$3
+shift 3
+
+# this assumes we're running from the repository root
+AVR_SIZE=$(echo .dependencies/avr-gcc-*/bin/avr-size)
+test -x "$AVR_SIZE" || exit 2
+
+avr_size()
+{
+    "$AVR_SIZE" --mcu=atmel32u4 -C "$@"
+}
+
+avr_flash()
+{
+    avr_size "$@" | sed -ne 's/^Program: *\([0-9]\+\).*/\1/p'
+}
+
+avr_ram()
+{
+    avr_size "$@" | sed -ne 's/^Data: *\([0-9]\+\).*/\1/p'
+}
+
+cat <<EOF > "$MESSAGE"
+All values in bytes. Δ Delta to base
+
+| ΔFlash | ΔSRAM | Used Flash | Used SRAM | Free Flash | Free SRAM |
+| ------ | ----- | -----------| --------- | ---------- | --------- |
+EOF
+
+atmel32u4_max_upload_size=$(grep "prusa_mm_control.upload.maximum_size=" .dependencies/prusa3dboards-*/boards.txt | cut -d "=" -f2)
+atmel32u4_max_upload_data_size=$(grep "prusa_mm_control.upload.maximum_data_size=" .dependencies/prusa3dboards-*/boards.txt | cut -d "=" -f2)
+
+base_bin=$(echo ${BASE_DIR}/firmware)
+base_flash=$(avr_flash "$base_bin")
+base_ram=$(avr_ram "$base_bin")
+
+pr_bin=$(echo ${PR_DIR}/firmware)
+pr_flash=$(avr_flash "$pr_bin")
+pr_ram=$(avr_ram "$pr_bin")
+
+flash_d=$(($pr_flash - $base_flash))
+ram_d=$(($pr_ram - $base_ram))
+
+flash_free=$(($atmel32u4_max_upload_size - $pr_flash))
+ram_free=$(($atmel32u4_max_upload_data_size - $pr_ram))
+
+echo "| $flash_d | $ram_d | $pr_flash | $pr_ram | $flash_free | $ram_free |" >> "$MESSAGE"
--- a/.github/workflows/pr-size.yml
+++ b/.github/workflows/pr-size.yml
@ -0,0 +1,79 @@
+name: pr-size
+
+on:
+  pull_request_target:
+    branches: [ main, MMU_* ]
+
+env:
+    TARGETS: "firmware"
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    permissions:
+      pull-requests: write
+
+    steps:
+
+    # setup base required dependencies
+    - name: Setup dependencies
+      run: |
+          sudo apt-get update
+          sudo apt-get install cmake ninja-build python3-pyelftools python3-regex python3-polib
+
+    # build the base branch
+    - name: Checkout base
+      uses: actions/checkout@v4
+
+    - name: Cache Dependencies
+      uses: actions/cache@v4
+      id: cache-pkgs
+      with:
+          path: ".dependencies"
+          key: "build-deps-1_0_0-linux"
+
+    - name: Setup build dependencies
+      run: |
+          ./utils/bootstrap.py
+
+    - name: Cache permissions
+      run: sudo chmod -R 744 .dependencies
+
+    - name: Build base
+      run: |
+          rm -rf build-base
+          mkdir build-base
+          cd build-base
+          cmake .. -DCMAKE_TOOLCHAIN_FILE="../cmake/AvrGcc.cmake" -DCMAKE_BUILD_TYPE=Release -G Ninja
+          ninja
+
+    # save pr-size for later use
+    - name: Save base data
+      run: |
+          cp -f ./.github/workflows/pr-size.sh build-base
+
+    # build the PR branch
+    - name: Checkout PR
+      uses: actions/checkout@v4
+      with:
+        clean: false
+        ref: ${{ github.event.pull_request.head.sha }}
+
+    - name: Build PR
+      run: |
+          rm -rf build-pr
+          mkdir build-pr
+          cd build-pr
+          cmake .. -DCMAKE_TOOLCHAIN_FILE="../cmake/AvrGcc.cmake" -DCMAKE_BUILD_TYPE=Release -G Ninja
+          ninja
+
+    # extract/show build differences
+    - name: Calculate binary changes
+      run: |
+          rm -rf build-changes
+          ./build-base/pr-size.sh build-changes build-base build-pr
+
+    - name: Add PR Comment
+      uses: mshick/add-pr-comment@v2.8.2
+      with:
+        message-path: build-changes
--- a/.github/workflows/stale.yml
+++ b/.github/workflows/stale.yml
@ -0,0 +1,30 @@
+name: Mark stale issues
+
+on:
+  schedule:
+  # 1:30 AM on MON/THU
+  - cron: "30 1 * * 1,2,3,4"
+
+jobs:
+  stale:
+
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/stale@v9
+      with:
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        # Don't ever mark PRs as stale.
+        days-before-pr-stale: -1
+        stale-issue-message: 'This issue has been flagged as stale because it has been open for 60 days with no activity. The issue will be closed in 7 days unless someone removes the "stale" label or adds a comment.'
+        close-issue-message: 'This issue has been closed due to lack of recent activity.'
+        # Don't act on things assigned to a milestone or assigned to someone.
+        exempt-all-milestones: true
+        exempt-all-assignees: true
+        enable-statistics: true
+        # Disable this and change the operations per run back to 30 when this goes live.
+        debug-only: false
+        operations-per-run: 30
+        stale-issue-label: 'stale-issue'
+        stale-pr-label: 'stale-pr'
+        ascending: true
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@ -0,0 +1,75 @@
+name: tests
+
+on:
+  pull_request_target:
+    branches: [ main, MMU_* ]
+
+jobs:
+  tests:
+    runs-on: ubuntu-22.04
+    permissions:
+      pull-requests: write
+
+    steps:
+
+    # setup base required dependencies
+    - name: Setup dependencies
+      run: |
+          sudo apt-get update
+          sudo apt-get install gcc-11 g++11 lcov cmake ninja-build python3-pyelftools python3-regex python3-polib
+
+    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+    - name: Checkout ${{ github.event.pull_request.head.ref }}
+      uses: actions/checkout@v4
+      if: ${{ github.event.pull_request }}
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+        submodules: true
+
+    - name: Checkout ${{ github.event.ref }}
+      uses: actions/checkout@v4
+      if: ${{ !github.event.pull_request }}
+      with:
+        ref: ${{ github.event.ref }}
+        submodules: true
+
+    - name: Cache Dependencies
+      uses: actions/cache@v4
+      id: cache-pkgs
+      with:
+          path: ".dependencies"
+          key: "build-deps-1_0_0-linux"
+
+    - name: Setup build dependencies
+      run: |
+          ./utils/bootstrap.py
+
+    - name: Cache permissions
+      run: sudo chmod -R 744 .dependencies
+
+    - name: Build
+      id: tests_run
+      continue-on-error: true
+      run: |
+          mkdir build
+          cd build
+          cmake .. -G Ninja
+          ninja test_coverage_report
+
+
+    - name: Upload artifacts
+      uses: actions/upload-artifact@v4
+      with:
+        name: Coverage
+        path: build/Coverage
+
+    - name: Add PR Comment
+      if: ${{ github.event.pull_request }}
+      uses: mshick/add-pr-comment@v2.8.2
+      with:
+        message-path: build/Summary.txt
+        message-id: "coverage"
+
+    - name: Report failure
+      if: steps.tests_run.outcome == 'failure'
+      run: echo ${{ steps.tests_run.outcome  }} && test -n ""
--- a/.vscode/cmake-kits.json
+++ b/.vscode/cmake-kits.json
@ -3,7 +3,7 @@
        "name": "avr-gcc",
        "toolchainFile": "${workspaceFolder}/cmake/AvrGcc.cmake",
        "cmakeSettings": {
-            "CMAKE_MAKE_PROGRAM": "${workspaceFolder}/.dependencies/ninja-1.10.2/ninja",
+            "CMAKE_MAKE_PROGRAM": "${workspaceFolder}/.dependencies/ninja-1.12.1/ninja",
            "CMAKE_BUILD_TYPE": "Release"
        }
    }
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -159,12 +159,10 @@ set_target_properties(firmware PROPERTIES CXX_STANDARD 17)
 set_target_properties(firmware PROPERTIES INTERPROCEDURAL_OPTIMIZATION True)

 if(CMAKE_CROSSCOMPILING)
-  #[[
  # configure linker script
  set(LINKER_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/src/avr5.xn)
  target_link_options(firmware PUBLIC -Wl,-T,${LINKER_SCRIPT})
  add_link_dependency(firmware ${LINKER_SCRIPT})
-  #]]

  # limit the text section to 28K (32K - 4k reserved for the bootloader)
  target_link_options(firmware PUBLIC -Wl,--defsym=__TEXT_REGION_LENGTH__=28K)
@ -183,7 +181,11 @@ if(CMAKE_CROSSCOMPILING)
    COMMAND ${CMAKE_OBJCOPY} firmware -O binary --gap-fill 0xFF --pad-to 0x00007000 firmware.bin
    COMMAND ${CMAKE_COMMAND} -E cat firmware.bin bootloader.bin > fw_bootloader.bin
    COMMAND ${CMAKE_OBJCOPY} -I binary -O ihex fw_bootloader.bin
-            "MMU3_${PROJECT_VERSION}${PROJECT_VERSION_SUFFIX_SHORT}_bootloader.hex"
+            "MMU2S_MMU3_BOOTLOADER_${PROJECT_VERSION}${PROJECT_VERSION_SUFFIX_SHORT}.hex"
+    COMMAND
+      ${CMAKE_COMMAND} -E copy
+      "MMU2S_MMU3_BOOTLOADER_${PROJECT_VERSION}${PROJECT_VERSION_SUFFIX_SHORT}.hex"
+      "MMU2S_MMU3_BOOTLOADER_${PROJECT_VERSION}.hex"
    BYPRODUCTS bootloader.bin firmware.bin fw_bootloader.bin
    )

@ -212,8 +214,14 @@ if(CMAKE_CROSSCOMPILING)
    POST_BUILD
    COMMAND
      ${CMAKE_COMMAND} -D WORK_DIR=${CMAKE_BINARY_DIR} -D
-      HEX_NAME="MMU3_${PROJECT_VERSION}${PROJECT_VERSION_SUFFIX_SHORT}.hex" -P
+      HEX_NAME="MMU2S_MMU3_FW${PROJECT_VERSION}${PROJECT_VERSION_SUFFIX_SHORT}.hex" -P
      ${CMAKE_SOURCE_DIR}/cmake/HexConcat.cmake DEPENDS firmware.hex
+    COMMAND
+      ${CMAKE_COMMAND} -E copy "MMU2S_MMU3_FW${PROJECT_VERSION}${PROJECT_VERSION_SUFFIX_SHORT}.hex"
+      "MMU2S_MMU3_FW${PROJECT_VERSION}.hex"
+    COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_BINARY_DIR}/autopublish
+    COMMAND ${CMAKE_COMMAND} -E copy
+            "MMU2S_MMU3_FW${PROJECT_VERSION}${PROJECT_VERSION_SUFFIX_SHORT}.hex" "autopublish/"
    )

 endif()
--- a/LICENSE.md
+++ b/LICENSE.md
@ -3,7 +3,7 @@ This firmware for the Original Prusa MMU3 and Original Prusa MMU2/S is distribut
 - The firmware source code is licensed under the GNU General Public License v3.0. Meaning you and your company can use the code both for the commercial and non-commercial activities, but you have to fulfil the requirements of the license. Read more about the permissions and limitations below.
 - The graphics and design are licensed under Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0). Meaning you and your company are strictly prohibited from using these elements in a commercial product. You have to create your own graphics and design. Read more about the permissions and limitations below. Violating these conditions will lead to a legal dispute.

-Original Prusa MMU3® and Original Prusa MMU2S® are registered trademarks of the Prusa Research s.r.o.
+Original Prusa® MMU3 and Original Prusa® MMU2S are registered trademarks of Prusa Research a.s.

 ---

--- a/README.md
+++ b/README.md
@ -1,5 +1,5 @@
-# Prusa-Firmware-MMU-Private
-This repository includes source code and firmware releases for the Original Prusa Multi Material Upgrade based on 8-bit ATMEL microcontroller.
+# Prusa-Firmware-MMU
+This repository includes source code and firmware releases for the Original Prusa Multi Material Unit based on 8-bit ATMEL microcontroller.

 The currently supported models are:
 - Original Prusa MMU3
@ -41,7 +41,7 @@ Run `./utils/bootstrap.py`
 `bootstrap.py` will now download all the "missing" dependencies into the `.dependencies` folder:
 - clang-format-9.0.0-noext
 - cmake-3.22.5
- ninja-1.10.2
+- ninja-1.12.1
 - avr-gcc-7.3.0

 ### How to build the preliminary project so far:
--- a/cmake/ProjectVersion.cmake
+++ b/cmake/ProjectVersion.cmake
@ -60,6 +60,11 @@ function(resolve_version_variables)
  # PROJECT_VERSION_TIMESTAMP
  if(NOT PROJECT_VERSION_TIMESTAMP)
    git_head_commit_timestamp(timestamp)
+    set(ERRORS "GIT-NOTFOUND" "HEAD-FORMAT-NOTFOUND" "HEAD-HASH-NOTFOUND")
+     if(timestamp IN_LIST ERRORS)
+       # git not available, set fallback values
+       set(timestamp 0)
+     endif()
    set(PROJECT_VERSION_TIMESTAMP
        "${timestamp}"
        PARENT_SCOPE
--- a/lib/Descriptors.h
+++ b/lib/Descriptors.h
@ -42,14 +42,14 @@
 #include "lufa/LUFA/Drivers/USB/USB.h"

 /* Macros: */
-/** Endpoint address of the CDC device-to-host notification IN endpoint. */
-#define CDC_NOTIFICATION_EPADDR (ENDPOINT_DIR_IN | 2)
-
 /** Endpoint address of the CDC device-to-host data IN endpoint. */
-#define CDC_TX_EPADDR (ENDPOINT_DIR_IN | 3)
+#define CDC_TX_EPADDR (ENDPOINT_DIR_IN | 1)

 /** Endpoint address of the CDC host-to-device data OUT endpoint. */
-#define CDC_RX_EPADDR (ENDPOINT_DIR_OUT | 4)
+#define CDC_RX_EPADDR (ENDPOINT_DIR_OUT | 2)
+
+/** Endpoint address of the CDC device-to-host notification IN endpoint. */
+#define CDC_NOTIFICATION_EPADDR (ENDPOINT_DIR_IN | 3)

 /** Size in bytes of the CDC device-to-host notification IN endpoint. */
 #define CDC_NOTIFICATION_EPSIZE 8
--- a/lib/lufa_config.h
+++ b/lib/lufa_config.h
@ -2,16 +2,16 @@

 #define USB_DEVICE_ONLY
 #define DEVICE_STATE_AS_GPIOR 0
-// #define ORDERED_EP_CONFIG
+#define ORDERED_EP_CONFIG
 #define FIXED_CONTROL_ENDPOINT_SIZE 8
 #define FIXED_NUM_CONFIGURATIONS 1
 #define INTERRUPT_CONTROL_ENDPOINT
 #define USE_FLASH_DESCRIPTORS
-#define USE_STATIC_OPTIONS (USB_DEVICE_OPT_FULLSPEED | USB_OPT_REG_ENABLED | USB_OPT_AUTO_PLL)
+#define USE_STATIC_OPTIONS (USB_DEVICE_OPT_FULLSPEED | USB_OPT_REG_ENABLED | USB_OPT_MANUAL_PLL)
 #define NO_INTERNAL_SERIAL
 #define NO_DEVICE_SELF_POWER
 #define NO_DEVICE_REMOTE_WAKEUP
-// #define NO_SOF_EVENTS
+#define NO_SOF_EVENTS
 #define F_USB F_CPU
 #define DEVICE_VID 0x2C99
 #define DEVICE_PID 0x0004
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@ -1,4 +1,4 @@
-target_sources(firmware PRIVATE application.cpp debug.cpp main.cpp registers.cpp version.hpp)
+target_sources(firmware PRIVATE application.cpp debug.cpp main.cpp registers.cpp version.cpp)

 target_link_libraries(firmware LUFA)

--- a/src/application.cpp
+++ b/src/application.cpp
@ -255,6 +255,7 @@ void Application::ProcessRequestMsg(const mp::RequestMsg &rq) {
    case mp::RequestMsgCodes::Eject:
    case mp::RequestMsgCodes::Home:
    case mp::RequestMsgCodes::Load:
+    case mp::RequestMsgCodes::Mode:
    case mp::RequestMsgCodes::Tool:
    case mp::RequestMsgCodes::Unload:
        PlanCommand(rq);
--- a/src/avr5.xn
+++ b/src/avr5.xn
@ -0,0 +1,271 @@
+/* Script for -n: mix text and data on same page */
+/* Copyright (C) 2014-2015 Free Software Foundation, Inc.
+   Copying and distribution of this script, with or without modification,
+   are permitted in any medium without royalty provided the copyright
+   notice and this notice are preserved.  */
+OUTPUT_FORMAT("elf32-avr","elf32-avr","elf32-avr")
+OUTPUT_ARCH(avr:5)
+__TEXT_REGION_ORIGIN__ = DEFINED(__TEXT_REGION_ORIGIN__) ? __TEXT_REGION_ORIGIN__ : 0;
+__DATA_REGION_ORIGIN__ = DEFINED(__DATA_REGION_ORIGIN__) ? __DATA_REGION_ORIGIN__ : 0x800060;
+__TEXT_REGION_LENGTH__ = DEFINED(__TEXT_REGION_LENGTH__) ? __TEXT_REGION_LENGTH__ : 128K;
+__DATA_REGION_LENGTH__ = DEFINED(__DATA_REGION_LENGTH__) ? __DATA_REGION_LENGTH__ : 0xffa0;
+__EEPROM_REGION_LENGTH__ = DEFINED(__EEPROM_REGION_LENGTH__) ? __EEPROM_REGION_LENGTH__ : 64K;
+__FUSE_REGION_LENGTH__ = DEFINED(__FUSE_REGION_LENGTH__) ? __FUSE_REGION_LENGTH__ : 1K;
+__LOCK_REGION_LENGTH__ = DEFINED(__LOCK_REGION_LENGTH__) ? __LOCK_REGION_LENGTH__ : 1K;
+__SIGNATURE_REGION_LENGTH__ = DEFINED(__SIGNATURE_REGION_LENGTH__) ? __SIGNATURE_REGION_LENGTH__ : 1K;
+__USER_SIGNATURE_REGION_LENGTH__ = DEFINED(__USER_SIGNATURE_REGION_LENGTH__) ? __USER_SIGNATURE_REGION_LENGTH__ : 1K;
+MEMORY
+{
+  text   (rx)   : ORIGIN = __TEXT_REGION_ORIGIN__, LENGTH = __TEXT_REGION_LENGTH__
+  data   (rw!x) : ORIGIN = __DATA_REGION_ORIGIN__, LENGTH = __DATA_REGION_LENGTH__
+  eeprom (rw!x) : ORIGIN = 0x810000, LENGTH = __EEPROM_REGION_LENGTH__
+  fuse      (rw!x) : ORIGIN = 0x820000, LENGTH = __FUSE_REGION_LENGTH__
+  lock      (rw!x) : ORIGIN = 0x830000, LENGTH = __LOCK_REGION_LENGTH__
+  signature (rw!x) : ORIGIN = 0x840000, LENGTH = __SIGNATURE_REGION_LENGTH__
+  user_signatures (rw!x) : ORIGIN = 0x850000, LENGTH = __USER_SIGNATURE_REGION_LENGTH__
+}
+SECTIONS
+{
+  /* Read-only sections, merged into text segment: */
+  .hash          : { *(.hash)		}
+  .dynsym        : { *(.dynsym)		}
+  .dynstr        : { *(.dynstr)		}
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+  .gnu.version_d   : { *(.gnu.version_d)	}
+  .gnu.version_r   : { *(.gnu.version_r)	}
+  .rel.init      : { *(.rel.init)		}
+  .rela.init     : { *(.rela.init)	}
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+    {
+      *(.rel.text)
+      *(.rel.text.*)
+      *(.rel.gnu.linkonce.t*)
+    }
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+    {
+      *(.rela.text)
+      *(.rela.text.*)
+      *(.rela.gnu.linkonce.t*)
+    }
+  .rel.fini      : { *(.rel.fini)		}
+  .rela.fini     : { *(.rela.fini)	}
+  .rel.rodata    :
+    {
+      *(.rel.rodata)
+      *(.rel.rodata.*)
+      *(.rel.gnu.linkonce.r*)
+    }
+  .rela.rodata   :
+    {
+      *(.rela.rodata)
+      *(.rela.rodata.*)
+      *(.rela.gnu.linkonce.r*)
+    }
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+    {
+      *(.rel.data)
+      *(.rel.data.*)
+      *(.rel.gnu.linkonce.d*)
+    }
+  .rela.data     :
+    {
+      *(.rela.data)
+      *(.rela.data.*)
+      *(.rela.gnu.linkonce.d*)
+    }
+  .rel.ctors     : { *(.rel.ctors)	}
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+  .rel.dtors     : { *(.rel.dtors)	}
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+  .rela.got      : { *(.rela.got)		}
+  .rel.bss       : { *(.rel.bss)		}
+  .rela.bss      : { *(.rela.bss)		}
+  .rel.plt       : { *(.rel.plt)		}
+  .rela.plt      : { *(.rela.plt)		}
+  /* Internal text space or external memory.  */
+  .text   :
+  {
+    *(.vectors)
+    KEEP(*(.vectors))
+
+    /* Version information kept in flash at a fixed address after the vectors */
+    . = ALIGN(2);
+    KEEP(*(.version))
+    . = ALIGN(2);
+    
+    /* For data that needs to reside in the lower 64k of progmem.  */
+     *(.progmem.gcc*)
+    /* PR 13812: Placing the trampolines here gives a better chance
+       that they will be in range of the code that uses them.  */
+    . = ALIGN(2);
+     __trampolines_start = . ;
+    /* The jump trampolines for the 16-bit limited relocs will reside here.  */
+    *(.trampolines)
+     *(.trampolines*)
+     __trampolines_end = . ;
+    /* avr-libc expects these data to reside in lower 64K. */
+     *libprintf_flt.a:*(.progmem.data)
+     *libc.a:*(.progmem.data)
+     *(.progmem*)
+    . = ALIGN(2);
+    /* For future tablejump instruction arrays for 3 byte pc devices.
+       We don't relax jump/call instructions within these sections.  */
+    *(.jumptables)
+     *(.jumptables*)
+    /* For code that needs to reside in the lower 128k progmem.  */
+    *(.lowtext)
+     *(.lowtext*)
+     __ctors_start = . ;
+     *(.ctors)
+     __ctors_end = . ;
+     __dtors_start = . ;
+     *(.dtors)
+     __dtors_end = . ;
+    KEEP(SORT(*)(.ctors))
+    KEEP(SORT(*)(.dtors))
+    /* From this point on, we don't bother about wether the insns are
+       below or above the 16 bits boundary.  */
+    *(.init0)  /* Start here after reset.  */
+    KEEP (*(.init0))
+    *(.init1)
+    KEEP (*(.init1))
+    *(.init2)  /* Clear __zero_reg__, set up stack pointer.  */
+    KEEP (*(.init2))
+    *(.init3)
+    KEEP (*(.init3))
+    *(.init4)  /* Initialize data and BSS.  */
+    KEEP (*(.init4))
+    *(.init5)
+    KEEP (*(.init5))
+    *(.init6)  /* C++ constructors.  */
+    KEEP (*(.init6))
+    *(.init7)
+    KEEP (*(.init7))
+    *(.init8)
+    KEEP (*(.init8))
+    *(.init9)  /* Call main().  */
+    KEEP (*(.init9))
+    *(.text)
+    . = ALIGN(2);
+     *(.text.*)
+    . = ALIGN(2);
+    *(.fini9)  /* _exit() starts here.  */
+    KEEP (*(.fini9))
+    *(.fini8)
+    KEEP (*(.fini8))
+    *(.fini7)
+    KEEP (*(.fini7))
+    *(.fini6)  /* C++ destructors.  */
+    KEEP (*(.fini6))
+    *(.fini5)
+    KEEP (*(.fini5))
+    *(.fini4)
+    KEEP (*(.fini4))
+    *(.fini3)
+    KEEP (*(.fini3))
+    *(.fini2)
+    KEEP (*(.fini2))
+    *(.fini1)
+    KEEP (*(.fini1))
+    *(.fini0)  /* Infinite loop after program termination.  */
+    KEEP (*(.fini0))
+     _etext = . ;
+  }  > text
+  .data          :
+  {
+     PROVIDE (__data_start = .) ;
+    *(.data)
+     *(.data*)
+    *(.gnu.linkonce.d*)
+    *(.rodata)  /* We need to include .rodata here if gcc is used */
+     *(.rodata*) /* with -fdata-sections.  */
+    *(.gnu.linkonce.r*)
+    . = ALIGN(2);
+     _edata = . ;
+     PROVIDE (__data_end = .) ;
+  }  > data AT> text
+  .bss  ADDR(.data) + SIZEOF (.data)   : AT (ADDR (.bss))
+  {
+     PROVIDE (__bss_start = .) ;
+    *(.bss)
+     *(.bss*)
+    *(COMMON)
+     PROVIDE (__bss_end = .) ;
+  }  > data
+   __data_load_start = LOADADDR(.data);
+   __data_load_end = __data_load_start + SIZEOF(.data);
+  /* Global data not cleared after reset.  */
+  .noinit  ADDR(.bss) + SIZEOF (.bss)  :  AT (ADDR (.noinit))
+  {
+     PROVIDE (__noinit_start = .) ;
+    *(.noinit*)
+     PROVIDE (__noinit_end = .) ;
+     _end = . ;
+     PROVIDE (__heap_start = .) ;
+  }  > data
+  .eeprom  :
+  {
+    /* See .data above...  */
+    KEEP(*(.eeprom*))
+     __eeprom_end = . ;
+  }  > eeprom
+  .fuse  :
+  {
+    KEEP(*(.fuse))
+    KEEP(*(.lfuse))
+    KEEP(*(.hfuse))
+    KEEP(*(.efuse))
+  }  > fuse
+  .lock  :
+  {
+    KEEP(*(.lock*))
+  }  > lock
+  .signature  :
+  {
+    KEEP(*(.signature*))
+  }  > signature
+  .user_signatures  :
+  {
+    KEEP(*(.user_signatures*))
+  }  > user_signatures
+  /* Stabs debugging sections.  */
+  .stab 0 : { *(.stab) }
+  .stabstr 0 : { *(.stabstr) }
+  .stab.excl 0 : { *(.stab.excl) }
+  .stab.exclstr 0 : { *(.stab.exclstr) }
+  .stab.index 0 : { *(.stab.index) }
+  .stab.indexstr 0 : { *(.stab.indexstr) }
+  .comment 0 : { *(.comment) }
+  .note.gnu.build-id : { *(.note.gnu.build-id) }
+  /* DWARF debug sections.
+     Symbols in the DWARF debugging sections are relative to the beginning
+     of the section so we begin them at 0.  */
+  /* DWARF 1 */
+  .debug          0 : { *(.debug) }
+  .line           0 : { *(.line) }
+  /* GNU DWARF 1 extensions */
+  .debug_srcinfo  0 : { *(.debug_srcinfo) }
+  .debug_sfnames  0 : { *(.debug_sfnames) }
+  /* DWARF 1.1 and DWARF 2 */
+  .debug_aranges  0 : { *(.debug_aranges) }
+  .debug_pubnames 0 : { *(.debug_pubnames) }
+  /* DWARF 2 */
+  .debug_info     0 : { *(.debug_info .gnu.linkonce.wi.*) }
+  .debug_abbrev   0 : { *(.debug_abbrev) }
+  .debug_line     0 : { *(.debug_line .debug_line.* .debug_line_end ) }
+  .debug_frame    0 : { *(.debug_frame) }
+  .debug_str      0 : { *(.debug_str) }
+  .debug_loc      0 : { *(.debug_loc) }
+  .debug_macinfo  0 : { *(.debug_macinfo) }
+  /* SGI/MIPS DWARF 2 extensions */
+  .debug_weaknames 0 : { *(.debug_weaknames) }
+  .debug_funcnames 0 : { *(.debug_funcnames) }
+  .debug_typenames 0 : { *(.debug_typenames) }
+  .debug_varnames  0 : { *(.debug_varnames) }
+  /* DWARF 3 */
+  .debug_pubtypes 0 : { *(.debug_pubtypes) }
+  .debug_ranges   0 : { *(.debug_ranges) }
+  /* DWARF Extension.  */
+  .debug_macro    0 : { *(.debug_macro) }
+}
--- a/src/config/axis.h
+++ b/src/config/axis.h
@ -28,6 +28,7 @@ struct AxisConfig {
    uint8_t iHold; ///< holding current
    bool stealth; ///< Default to Stealth mode
    long double stepsPerUnit; ///< steps per unit
+    long double stepsPerUnitReciprocal; ///< reciprocal of step per unit (used to avoid divisions)
    int8_t sg_thrs; /// @todo 7bit two's complement for the sg_thrs
 };

--- a/src/config/config.h
+++ b/src/config/config.h
@ -104,6 +104,7 @@ static constexpr U_mm pulleyHelperMove = 10.0_mm; ///< Helper move for Load/Unlo
 static constexpr U_mm cutLength = 8.0_mm;
 static constexpr U_mm fsensorToNozzle = 30.0_mm; ///< ~20mm from MK4's filament sensor through extruder gears into nozzle
 static constexpr U_mm fsensorToNozzleAvoidGrind = 5.0_mm;
+static constexpr U_mm fsensorToNozzleAvoidGrindUnload = 20.0_mm;
 /// Check the state of FSensor after this amount of filament got (hopefully) pulled out while unloading.
 static constexpr U_mm fsensorUnloadCheckDistance = 40.0_mm;

@ -115,6 +116,7 @@ static constexpr AxisConfig pulley = {
    .iHold = 0, /// 17mA in SpreadCycle, freewheel in StealthChop
    .stealth = false,
    .stepsPerUnit = (200 * 8 / 19.147274),
+    .stepsPerUnitReciprocal = 1 / ((200 * 8 / 19.147274)),
    .sg_thrs = 8,
 };

@ -140,6 +142,7 @@ static constexpr AxisConfig selector = {
    .iHold = 0, /// 17mA in SpreadCycle, freewheel in StealthChop
    .stealth = false,
    .stepsPerUnit = (200 * 8 / 8.),
+    .stepsPerUnitReciprocal = 1 / ((200 * 8 / 8.)),
    .sg_thrs = 3,
 };

@ -190,6 +193,7 @@ static constexpr AxisConfig idler = {
    .iHold = 5, /// 99mA - parked current
    .stealth = false,
    .stepsPerUnit = (200 * 16 / 360.),
+    .stepsPerUnitReciprocal = 1 / ((200 * 16 / 360.)),
    .sg_thrs = 7,
 };

--- a/src/hal/gpio.h
+++ b/src/hal/gpio.h
@ -52,31 +52,31 @@ struct GPIO_pin {
    // No constructor here in order to allow brace-initialization in old
    // gcc versions/standards
    GPIO_TypeDef *const port;
-    const uint8_t pin;
+    const uint8_t pin_mask;
 };

 __attribute__((always_inline)) inline void WritePin(const GPIO_pin portPin, Level level) {
    ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
        if (level == Level::high)
-            portPin.port->PORTx |= (1 << portPin.pin);
+            portPin.port->PORTx |= portPin.pin_mask;
        else
-            portPin.port->PORTx &= ~(1 << portPin.pin);
+            portPin.port->PORTx &= ~portPin.pin_mask;
    }
 }

 __attribute__((always_inline)) inline Level ReadPin(const GPIO_pin portPin) {
 #ifdef __AVR__
-    return (Level)((portPin.port->PINx & (1 << portPin.pin)) != 0);
+    return (Level)((portPin.port->PINx & portPin.pin_mask) != 0);
 #else
    // Return the value modified by WritePin
-    return (Level)((portPin.port->PORTx & (1 << portPin.pin)) != 0);
+    return (Level)((portPin.port->PORTx & portPin.pin_mask) != 0);
 #endif
 }

 __attribute__((always_inline)) inline void TogglePin(const GPIO_pin portPin) {
 #ifdef __AVR__
    // Optimized path for AVR, resulting in a pin toggle
-    portPin.port->PINx = (1 << portPin.pin);
+    portPin.port->PINx = portPin.pin_mask;
 #else
    WritePin(portPin, (Level)(ReadPin(portPin) != Level::high));
 #endif
@ -85,9 +85,9 @@ __attribute__((always_inline)) inline void TogglePin(const GPIO_pin portPin) {
 __attribute__((always_inline)) inline void Init(const GPIO_pin portPin, GPIO_InitTypeDef GPIO_Init) {
    if (GPIO_Init.mode == Mode::output) {
        WritePin(portPin, GPIO_Init.level);
-        portPin.port->DDRx |= (1 << portPin.pin);
+        portPin.port->DDRx |= portPin.pin_mask;
    } else {
-        portPin.port->DDRx &= ~(1 << portPin.pin);
+        portPin.port->DDRx &= ~portPin.pin_mask;
        WritePin(portPin, (Level)GPIO_Init.pull);
    }
 }
--- a/src/logic/command_base.cpp
+++ b/src/logic/command_base.cpp
@ -212,7 +212,7 @@ void CommandBase::ErrDisengagingIdler() {
 void CommandBase::GoToErrDisengagingIdler(ErrorCode deferredEC) {
    state = ProgressCode::ERRDisengagingIdler;
    deferredErrorCode = deferredEC;
-    ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::off, ml::blink0);
+    ml::leds.ActiveSlotError();
    mi::idler.Disengage();
 }

--- a/src/logic/cut_filament.cpp
+++ b/src/logic/cut_filament.cpp
@ -86,7 +86,7 @@ bool CutFilament::StepInner() {
                // move selector aside - prepare the blade into active position
                state = ProgressCode::PreparingBlade;
                mg::globals.SetFilamentLoaded(cutSlot, mg::FilamentLoadState::AtPulley);
-                ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::blink0, ml::off);
+                ml::leds.ActiveSlotProcessing();
                MoveSelector(cutSlot + 1);
            }
        }
@ -94,7 +94,7 @@ bool CutFilament::StepInner() {
    case ProgressCode::PreparingBlade:
        if (ms::selector.Slot() == cutSlot + 1) {
            state = ProgressCode::PushingFilament;
-            mpu::pulley.PlanMove(config::cutLength + config::cuttingEdgeRetract, config::pulleySlowFeedrate);
+            mpu::pulley.PlanMove(mg::globals.CutLength() + config::cuttingEdgeRetract, mg::globals.PulleySlowFeedrate_mm_s());
        }
        break;
    case ProgressCode::PushingFilament:
@ -123,7 +123,7 @@ bool CutFilament::StepInner() {
            // revert move speed
            mg::globals.SetSelectorFeedrate_mm_s(savedSelectorFeedRate_mm_s);
            ms::selector.InvalidateHoming();
-            mpu::pulley.PlanMove(-config::cuttingEdgeRetract, config::pulleySlowFeedrate);
+            mpu::pulley.PlanMove(-config::cuttingEdgeRetract, mg::globals.PulleySlowFeedrate_mm_s());
        }
        break;
    case ProgressCode::Homing:
@ -134,7 +134,7 @@ bool CutFilament::StepInner() {
    case ProgressCode::ReturningSelector:
        if (ms::selector.State() == ms::selector.Ready) {
            FinishedOK();
-            ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::on, ml::off);
+            ml::leds.ActiveSlotDonePrimed();
        }
        break;
    case ProgressCode::OK:
--- a/src/logic/cut_filament.h
+++ b/src/logic/cut_filament.h
@ -28,8 +28,6 @@ public:
    ErrorCode Error() const override;

 private:
-    constexpr static const uint16_t cutStepsPre = 700;
-    constexpr static const uint16_t cutStepsPost = 150;
    UnloadFilament unl; ///< a high-level command/operation may be used as a building block of other operations as well
    FeedToFinda feed;
    RetractFromFinda retract;
--- a/src/logic/eject_filament.cpp
+++ b/src/logic/eject_filament.cpp
@ -61,7 +61,7 @@ bool EjectFilament::StepInner() {
        if (mi::idler.Engaged()) {
            state = ProgressCode::EjectingFilament;
            mpu::pulley.InitAxis();
-            mpu::pulley.PlanMove(config::ejectFromCuttingEdge, config::pulleySlowFeedrate);
+            mpu::pulley.PlanMove(config::ejectFromCuttingEdge, mg::globals.PulleySlowFeedrate_mm_s());
        }
        break;
    case ProgressCode::EjectingFilament:
--- a/src/logic/eject_filament.h
+++ b/src/logic/eject_filament.h
@ -7,10 +7,6 @@

 namespace logic {

-// These cannot be class memebers without definition until c++17
-static constexpr modules::motion::P_pos_t ejectLength = 50.0_P_mm; //@@TODO
-static constexpr modules::motion::P_speed_t ejectSpeed = 1000.0_P_mm_s; //@@TODO
-
 /// @brief  A high-level command state machine - handles the complex logic of ejecting filament
 ///
 /// The eject operation consists of:
--- a/src/logic/feed_to_bondtech.cpp
+++ b/src/logic/feed_to_bondtech.cpp
@ -17,7 +17,7 @@ void FeedToBondtech::Reset(uint8_t maxRetries) {
    dbg_logic_P(PSTR("\nFeed to Bondtech\n\n"));
    state = EngagingIdler;
    this->maxRetries = maxRetries;
-    ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
+    ml::leds.ActiveSlotProcessing();
    mi::idler.Engage(mg::globals.ActiveSlot());
 }

@ -78,7 +78,7 @@ bool FeedToBondtech::Step() {
            mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InNozzle);
            mi::idler.PartiallyDisengage(mg::globals.ActiveSlot());
            // while disengaging the idler, keep on moving with the pulley to avoid grinding while the printer is trying to grab the filament itself
-            mpu::pulley.PlanMove(config::fsensorToNozzleAvoidGrind, config::pulleySlowFeedrate);
+            mpu::pulley.PlanMove(config::fsensorToNozzleAvoidGrind, mg::globals.PulleySlowFeedrate_mm_s());
            state = PartiallyDisengagingIdler;
        }
        return false;
@ -95,7 +95,7 @@ bool FeedToBondtech::Step() {
            dbg_logic_P(PSTR("Feed to Bondtech --> Idler disengaged"));
            dbg_logic_fP(PSTR("Pulley end steps %u"), mpu::pulley.CurrentPosition_mm());
            state = OK;
-            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
+            ml::leds.ActiveSlotDonePrimed();
        }
        return false;
    case OK:
--- a/src/logic/feed_to_bondtech.h
+++ b/src/logic/feed_to_bondtech.h
@ -17,7 +17,7 @@ namespace logic {
 /// To prevent constant EEPROM updates only significant changes are recorded.
 struct FeedToBondtech {
    /// internal states of the state machine
-    enum {
+    enum : uint8_t {
        EngagingIdler,
        PushingFilamentFast,
        PushingFilamentToFSensor,
--- a/src/logic/feed_to_finda.cpp
+++ b/src/logic/feed_to_finda.cpp
@ -17,7 +17,7 @@ bool FeedToFinda::Reset(bool feedPhaseLimited, bool haltAtEnd) {
    state = EngagingIdler;
    this->feedPhaseLimited = feedPhaseLimited;
    this->haltAtEnd = haltAtEnd;
-    ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::blink0, ml::off);
+    ml::leds.ActiveSlotProcessing();
    if (ms::selector.MoveToSlot(mg::globals.ActiveSlot()) != ms::Selector::OperationResult::Accepted) {
        // We can't get any FINDA readings if the selector is at the wrong spot - move it accordingly if necessary
        // And prevent issuing any commands to the idler in such an error state
@ -44,14 +44,14 @@ bool FeedToFinda::Step() {
            //                mpu::pulley.PlanMove(config::filamentMinLoadedToMMU, config::pulleySlowFeedrate);
            //            }

-            mpu::pulley.PlanMove(config::maximumFeedToFinda, config::pulleySlowFeedrate);
+            mpu::pulley.PlanMove(config::maximumFeedToFinda, mg::globals.PulleySlowFeedrate_mm_s());
            if (feedPhaseLimited) {
                state = PushingFilament;
            } else {
                state = PushingFilamentUnlimited;
                // in unlimited move we plan 2 moves at once to make the move "seamless"
                // one move has already been planned above, this is the second one
-                mpu::pulley.PlanMove(config::maximumFeedToFinda, config::pulleySlowFeedrate);
+                mpu::pulley.PlanMove(config::maximumFeedToFinda, mg::globals.PulleySlowFeedrate_mm_s());
            }
            mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
            mui::userInput.Clear(); // remove all buffered events if any just before we wait for some input
@ -68,7 +68,7 @@ bool FeedToFinda::Step() {
            return true; // return immediately to allow for a seamless planning of another move (like feeding to bondtech)
        } else if (mm::motion.QueueEmpty()) { // all moves have been finished and FINDA didn't switch on
            state = Failed;
-            ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::off, ml::blink0);
+            ml::leds.ActiveSlotError();
        }
    }
        return false;
@ -85,7 +85,7 @@ bool FeedToFinda::Step() {
            return true; // return immediately to allow for a seamless planning of another move (like feeding to bondtech)
        } else if (mm::motion.PlannedMoves(mm::Pulley) < 2) {
            // plan another move to make the illusion of unlimited moves
-            mpu::pulley.PlanMove(config::maximumFeedToFinda, config::pulleySlowFeedrate);
+            mpu::pulley.PlanMove(config::maximumFeedToFinda, mg::globals.PulleySlowFeedrate_mm_s());
        }
    }
        return false;
--- a/src/logic/feed_to_finda.h
+++ b/src/logic/feed_to_finda.h
@ -12,7 +12,7 @@ namespace logic {
 /// Leaves the Pulley axis enabled for chaining potential next operations
 struct FeedToFinda {
    /// internal states of the state machine
-    enum {
+    enum : uint8_t {
        EngagingIdler,
        PushingFilament,
        PushingFilamentUnlimited,
--- a/src/logic/hw_sanity.cpp
+++ b/src/logic/hw_sanity.cpp
@ -32,7 +32,7 @@ bool HWSanity::Reset(uint8_t param) {
    return true;
 }

-enum pin_bits {
+enum pin_bits : uint8_t {
    BIT_STEP = 0b001,
    BIT_DIR = 0b010,
    BIT_ENA = 0b100,
--- a/src/logic/load_filament.cpp
+++ b/src/logic/load_filament.cpp
@ -50,8 +50,6 @@ void logic::LoadFilament::Reset2(bool feedPhaseLimited) {
    if (!feed.Reset(feedPhaseLimited, true)) {
        // selector refused to move
        GoToErrDisengagingIdler(ErrorCode::FINDA_FLICKERS);
-    } else {
-        ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::blink0, ml::off);
    }
 }

--- a/src/logic/progress_codes.h
+++ b/src/logic/progress_codes.h
@ -2,16 +2,19 @@
 #pragma once
 #include <stdint.h>

+/// Base class for ProgressCode and its extensions
+using RawProgressCode = uint_fast8_t;
+
 /// A complete set of progress codes which may be reported while running a high-level command/operation
 /// This header file shall be included in the printer's firmware as well as a reference,
 /// therefore the progress codes have been extracted to one place
-enum class ProgressCode : uint_fast8_t {
+enum class ProgressCode : RawProgressCode {
    OK = 0, ///< finished ok

    EngagingIdler, // P1
    DisengagingIdler, // P2
    UnloadingToFinda, // P3
-    UnloadingToPulley, //P4
+    UnloadingToPulley, // P4
    FeedingToFinda, // P5
    FeedingToBondtech, // P6
    FeedingToNozzle, // P7
@ -37,7 +40,7 @@ enum class ProgressCode : uint_fast8_t {
    RetractingFromFinda, // P25

    Homing, // P26
-    MovingSelector, // P27
+    MovingSelector, // P2

    FeedingToFSensor, // P28

@ -50,5 +53,9 @@ enum class ProgressCode : uint_fast8_t {
    HWTestDisplay, // P35
    ErrHwTestFailed, // P36

+    /// Keep as the last item (except for Empty)
+    /// Used for extending the progress codes on the printer side
+    _cnt,
+
    Empty = 0xff // dummy empty state
 };
--- a/src/logic/result_codes.h
+++ b/src/logic/result_codes.h
@ -7,7 +7,7 @@
 /// therefore the error codes have been extracted to one place.
 ///
 /// Please note that currently only LoadFilament can return something else than "OK"
-enum class ResultCode : uint_fast16_t {
+enum class ResultCode : uint_fast8_t {
    OK = 0,
    Cancelled = 1
 };
--- a/src/logic/retract_from_finda.cpp
+++ b/src/logic/retract_from_finda.cpp
@ -13,7 +13,7 @@ namespace logic {
 void RetractFromFinda::Reset() {
    dbg_logic_P(PSTR("\nRetract from FINDA\n\n"));
    state = EngagingIdler;
-    ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::blink0, ml::off);
+    ml::leds.ActiveSlotProcessing();
    mi::idler.Engage(mg::globals.ActiveSlot());
 }

@ -33,10 +33,10 @@ bool RetractFromFinda::Step() {
                state = OK;
                mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::AtPulley);
                dbg_logic_fP(PSTR("Pulley end steps %u"), mpu::pulley.CurrentPosition_mm());
-                ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
+                ml::leds.ActiveSlotDoneEmpty();
            } else { // FINDA didn't switch off
                state = Failed;
-                ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::off, ml::blink0);
+                ml::leds.ActiveSlotError();
            }
        }
        return false;
--- a/src/logic/retract_from_finda.h
+++ b/src/logic/retract_from_finda.h
@ -13,7 +13,7 @@ namespace logic {
 /// - leaves idler engaged for chaining operations
 struct RetractFromFinda {
    /// internal states of the state machine
-    enum {
+    enum : uint8_t {
        EngagingIdler,
        UnloadBackToPTFE,
        OK,
--- a/src/logic/tool_change.cpp
+++ b/src/logic/tool_change.cpp
@ -39,7 +39,7 @@ bool ToolChange::Reset(uint8_t param) {
    if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
        dbg_logic_P(PSTR("Filament is loaded --> unload"));
        state = ProgressCode::UnloadingFilament;
-        unl.Reset(mg::globals.ActiveSlot());
+        unl.Reset2(mg::globals.ActiveSlot());
    } else {
        mg::globals.SetFilamentLoaded(plannedSlot, mg::FilamentLoadState::InSelector); // activate the correct slot, feed uses that
        if (feed.Reset(true, false)) {
@ -54,20 +54,19 @@ bool ToolChange::Reset(uint8_t param) {
    return true;
 }

-void logic::ToolChange::GoToFeedingToBondtech() {
-    ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::blink0, ml::off);
+void ToolChange::GoToFeedingToBondtech() {
    james.Reset(3);
    state = ProgressCode::FeedingToBondtech;
    error = ErrorCode::RUNNING;
 }

-void logic::ToolChange::ToolChangeFinishedCorrectly() {
-    ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::on, ml::off);
+void ToolChange::ToolChangeFinishedCorrectly() {
+    ml::leds.ActiveSlotDonePrimed();
    mui::userInput.SetPrinterInCharge(false);
    FinishedOK();
 }

-void logic::ToolChange::GoToFeedingToFinda() {
+void ToolChange::GoToFeedingToFinda() {
    state = ProgressCode::FeedingToFinda;
    error = ErrorCode::RUNNING;
    mg::globals.SetFilamentLoaded(plannedSlot, mg::FilamentLoadState::AtPulley);
--- a/src/logic/unload_filament.cpp
+++ b/src/logic/unload_filament.cpp
@ -28,11 +28,17 @@ bool UnloadFilament::Reset(uint8_t /*param*/) {
    mpu::pulley.InitAxis();
    state = ProgressCode::UnloadingToFinda;
    error = ErrorCode::RUNNING;
+    skipDisengagingIdler = false;
    unl.Reset(maxRetries);
-    ml::leds.SetAllOff();
    return true;
 }

+bool UnloadFilament::Reset2(uint8_t param) {
+    bool rv = Reset(param);
+    skipDisengagingIdler = true;
+    return rv;
+}
+
 void UnloadFilament::UnloadFinishedCorrectly() {
    FinishedOK();
    mpu::pulley.Disable();
@ -77,7 +83,11 @@ bool UnloadFilament::StepInner() {
                GoToErrDisengagingIdler(ErrorCode::FINDA_DIDNT_SWITCH_OFF); // signal unloading error
            } else {
                state = ProgressCode::DisengagingIdler;
-                mi::idler.Disengage();
+                if (skipDisengagingIdler && ms::selector.State() == ms::Selector::Ready) {
+                    UnloadFinishedCorrectly(); // skip disengaging the Idler - to be used inside ToolChange to speed up
+                } else {
+                    mi::idler.Disengage();
+                }
            }
        }
        return false;
--- a/src/logic/unload_filament.h
+++ b/src/logic/unload_filament.h
@ -12,12 +12,15 @@ namespace logic {
 class UnloadFilament : public CommandBase {
 public:
    inline constexpr UnloadFilament()
-        : CommandBase() {}
+        : CommandBase()
+        , skipDisengagingIdler(false) {}

    /// Restart the automaton
    /// @param param is not used, always unloads from the active slot
    bool Reset(uint8_t param) override;

+    bool Reset2(uint8_t param);
+
    /// @returns true if the state machine finished its job, false otherwise
    bool StepInner() override;

@ -32,6 +35,7 @@ private:
    UnloadToFinda unl;
    FeedToFinda feed;
    RetractFromFinda retract;
+    bool skipDisengagingIdler;
 };

 /// The one and only instance of UnloadFilament state machine in the FW
--- a/src/logic/unload_to_finda.cpp
+++ b/src/logic/unload_to_finda.cpp
@ -8,6 +8,7 @@
 #include "../modules/motion.h"
 #include "../modules/permanent_storage.h"
 #include "../modules/pulley.h"
+#include "../modules/timebase.h"

 namespace logic {

@ -19,19 +20,40 @@ void UnloadToFinda::Reset(uint8_t maxTries) {
    } else {
        // FINDA is sensing the filament, plan moves to unload it
        state = EngagingIdler;
-        mi::idler.Engage(mg::globals.ActiveSlot());
+        mi::idler.PartiallyDisengage(mg::globals.ActiveSlot()); // basically prepare before the active slot - saves ~1s
+        started_ms = mt::timebase.Millis();
+        ml::leds.ActiveSlotProcessing();
    }
 }

 bool UnloadToFinda::Step() {
    switch (state) {
+    // start by engaging the idler into intermediate position
+    // Then, wait for !fsensor.Pressed: that's to speed-up the pull process - unload operation will be started during the purging moves
+    // and as soon as the fsensor turns off, the MMU engages the idler fully and starts pulling.
+    // It will not wait for the extruder to finish the relieve move.
+    // However, such an approach breaks running the MMU on a non-reworked MK4/C1, which hasn't been officially supported, but possible (with some level of uncertainity).
    case EngagingIdler:
-        if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
-            state = UnloadingToFinda;
-            mpu::pulley.InitAxis();
-            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
+        if (!mi::idler.PartiallyDisengaged()) { // just waiting for Idler to get into the target intermediate position
+            return false;
+        }
+        if (mfs::fsensor.Pressed()) { // still pressed, printer didn't free the filament yet
+            if (mt::timebase.Elapsed(started_ms, 4000)) {
+                state = FailedFSensor; // fsensor didn't turn off within 4 seconds, something is seriously wrong
+            }
+            return false;
        } else {
-            state = FailedFINDA;
+            // fsensor is OFF and Idler is partially engaged, engage the Idler fully and pull
+            if (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector) {
+                state = UnloadingToFinda;
+                mpu::pulley.InitAxis();
+                mi::idler.Engage(mg::globals.ActiveSlot());
+
+                //  slow move for the first few millimeters - help the printer relieve the filament while engaging the Idler fully
+                mpu::pulley.PlanMove(-config::fsensorToNozzleAvoidGrindUnload, mg::globals.PulleySlowFeedrate_mm_s(), mg::globals.PulleySlowFeedrate_mm_s());
+            } else {
+                state = FailedFINDA;
+            }
        }
        return false;
    case UnloadingToFinda:
@ -55,17 +77,20 @@ bool UnloadToFinda::Step() {
            // This scenario should not be tried again - repeating it may cause more damage to filament + potentially more collateral damage
            state = FailedFSensor;
            mm::motion.AbortPlannedMoves(); // stop rotating the pulley
-            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
+            ml::leds.ActiveSlotDoneEmpty();
        } else if (!mf::finda.Pressed()) {
            // detected end of filament
            state = OK;
            mm::motion.AbortPlannedMoves(); // stop rotating the pulley
-            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
+            ml::leds.ActiveSlotDoneEmpty();
        } else if (/*tmc2130_read_gstat() &&*/ mm::motion.QueueEmpty()) {
            // we reached the end of move queue, but the FINDA didn't switch off
            // two possible causes - grinded filament or malfunctioning FINDA
            if (--maxTries) {
-                Reset(maxTries); // try again
+                // Ideally, the Idler shall rehome and then try again.
+                // That would auto-resolve errors caused by slipped or misaligned Idler
+                mi::idler.InvalidateHoming();
+                Reset(maxTries);
            } else {
                state = FailedFINDA;
            }
--- a/src/logic/unload_to_finda.h
+++ b/src/logic/unload_to_finda.h
@ -13,7 +13,7 @@ namespace logic {
 /// - load/unload to finda
 struct UnloadToFinda {
    /// internal states of the state machine
-    enum {
+    enum : uint8_t {
        EngagingIdler,
        UnloadingToFinda,
        WaitingForFINDA,
@ -24,7 +24,8 @@ struct UnloadToFinda {
    inline constexpr UnloadToFinda()
        : state(OK)
        , maxTries(3)
-        , unloadStart_mm(0) {}
+        , unloadStart_mm(0)
+        , started_ms(0) {}

    /// Restart the automaton
    /// @param maxTries maximum number of retried attempts before reporting a fail
@ -40,6 +41,7 @@ private:
    uint8_t state;
    uint8_t maxTries;
    int32_t unloadStart_mm; // intentionally trying to avoid using U_mm because it is a float (reps. long double)
+    uint16_t started_ms; // timeout on fsensor turn off
 };

 } // namespace logic
--- a/src/main.cpp
+++ b/src/main.cpp
@ -95,10 +95,7 @@ static void setup2() {
    mb::buttons.Step();

    // Turn off all leds
-    for (uint8_t i = 0; i < config::toolCount; i++) {
-        ml::leds.SetMode(i, ml::green, ml::off);
-        ml::leds.SetMode(i, ml::red, ml::off);
-    }
+    ml::leds.SetAllOff();
    ml::leds.Step();
    mb::buttons.Step();

@ -128,7 +125,7 @@ static void setup2() {

        // activate the correct LED if filament is present
        if (mg::globals.FilamentLoaded() > mg::FilamentLoadState::AtPulley) {
-            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::on);
+            ml::leds.ActiveSlotDonePrimed();
        }
    }

--- a/src/modules/axisunit.h
+++ b/src/modules/axisunit.h
@ -94,12 +94,13 @@ constexpr AxisUnit<T, A, U> operator*(const long double f, const AxisUnit<T, A,
 struct AxisScale {
    unit::UnitBase base;
    long double stepsPerUnit;
+    long double stepsPerUnitReciprocal;
 };

 static constexpr AxisScale axisScale[config::NUM_AXIS] = {
-    { config::pulleyLimits.base, config::pulley.stepsPerUnit },
-    { config::selectorLimits.base, config::selector.stepsPerUnit },
-    { config::idlerLimits.base, config::idler.stepsPerUnit },
+    { config::pulleyLimits.base, config::pulley.stepsPerUnit, config::pulley.stepsPerUnitReciprocal },
+    { config::selectorLimits.base, config::selector.stepsPerUnit, config::selector.stepsPerUnitReciprocal },
+    { config::idlerLimits.base, config::idler.stepsPerUnit, config::idler.stepsPerUnitReciprocal },
 };

 /// Convert a unit::Unit to AxisUnit.
@ -126,7 +127,7 @@ template <typename U, typename AU, typename T = int32_t>
 static constexpr T axisUnitToTruncatedUnit(AU v, long double mul = 1.) {
    static_assert(AU::unit == U::unit, "incorrect unit type conversion");
    static_assert(U::base == axisScale[AU::axis].base, "incorrect unit base conversion");
-    return { ((T)v.v / (T)(axisScale[AU::axis].stepsPerUnit / mul)) };
+    return { ((T)(v.v * (axisScale[AU::axis].stepsPerUnitReciprocal / mul))) };
 }

 /// Truncate an Unit type to an integer (normally int32_t)
--- a/src/modules/buttons.h
+++ b/src/modules/buttons.h
@ -20,7 +20,7 @@ private:
 };

 /// Enum of buttons - used also as indices in an array of buttons to keep the code size tight.
-enum {
+enum : uint8_t {
    Right = 0,
    Middle,
    Left
--- a/src/modules/debouncer.h
+++ b/src/modules/debouncer.h
@ -28,7 +28,7 @@ private:
    /// Intentionally not modeled as an enum class
    /// as it would impose additional casts which do not play well with the struct Flags
    /// and would make the code less readable
-    enum State {
+    enum State : uint8_t {
        Waiting = 0,
        Detected,
        WaitForRelease,
--- a/src/modules/globals.cpp
+++ b/src/modules/globals.cpp
@ -36,6 +36,7 @@ void Globals::Init() {
    ResetIdlerHomingFeedrate();

    ResetCutIRunCurrent();
+    ResetCutLength();
 }

 uint8_t Globals::ActiveSlot() const {
--- a/src/modules/globals.h
+++ b/src/modules/globals.h
@ -109,6 +109,10 @@ public:
    void ResetCutIRunCurrent() { cutIRunCurrent = config::selectorCutIRun; }
    void SetCutIRunCurrent(uint8_t v) { cutIRunCurrent = v; }

+    config::U_mm CutLength() const { return config::U_mm({ (long double)cutLength_mm }); }
+    void ResetCutLength() { cutLength_mm = config::cutLength.v; }
+    void SetCutLength(uint8_t v) { cutLength_mm = v; }
+
 private:
    /// Sets the active slot, usually after some command/operation.
    /// Also updates the EEPROM records accordingly
@ -132,6 +136,7 @@ private:
    uint16_t idlerHomingFeedrate_deg_s;

    uint8_t cutIRunCurrent;
+    uint8_t cutLength_mm;
 };

 /// The one and only instance of global state variables
--- a/src/modules/idler.cpp
+++ b/src/modules/idler.cpp
@ -39,7 +39,7 @@ void Idler::PlanHomingMoveBack() {
 bool Idler::FinishHomingAndPlanMoveToParkPos() {
    // check the axis' length
    if (AxisDistance(mm::axisUnitToTruncatedUnit<config::U_deg>(mm::motion.CurPosition<mm::Idler>()))
-        < (config::idlerLimits.lenght.v - 10)) { //@@TODO is 10 degrees ok?
+        < uint16_t(config::idlerLimits.lenght.v - 10)) { //@@TODO is 10 degrees ok?
        return false; // we couldn't home correctly, we cannot set the Idler's position
    }

@ -64,32 +64,12 @@ void Idler::FinishMove() {
 }

 bool Idler::StallGuardAllowed(bool forward) const {
-    const uint8_t checkDistance = forward ? 220 : 200;
+    const uint8_t checkDistance = forward ? 200 : 180;
    return AxisDistance(mm::axisUnitToTruncatedUnit<config::U_deg>(mm::motion.CurPosition<mm::Idler>())) > checkDistance;
 }

 Idler::OperationResult Idler::Disengage() {
-    if (state == Moving || IsOnHold()) {
-        dbg_logic_P(PSTR("Moving --> Disengage refused"));
-        return OperationResult::Refused;
-    }
-    plannedSlot = IdleSlotIndex();
-    plannedMove = Operation::disengage;
-
-    // coordinates invalid, first home, then disengage
-    if (!homingValid) {
-        PlanHome();
-        return OperationResult::Accepted;
-    }
-
-    // already disengaged
-    if (Disengaged()) {
-        dbg_logic_P(PSTR("Idler Disengaged"));
-        return OperationResult::Accepted;
-    }
-
-    // disengaging
-    return InitMovementNoReinitAxis();
+    return PlanMoveInner(IdleSlotIndex(), Operation::disengage);
 }

 Idler::OperationResult Idler::PartiallyDisengage(uint8_t slot) {
@ -114,7 +94,7 @@ Idler::OperationResult Idler::PlanMoveInner(uint8_t slot, Operation plannedOp) {
        return OperationResult::Accepted;
    }

-    // coordinates invalid, first home, then engage
+    // coordinates invalid, first home, then engage or disengage
    // The MMU FW only decides to engage the Idler when it is supposed to do something and not while it is idle
    // so rebooting the MMU while the printer is printing (and thus holding the filament by the moving Idler)
    // should not be an issue
@ -123,8 +103,8 @@ Idler::OperationResult Idler::PlanMoveInner(uint8_t slot, Operation plannedOp) {
        return OperationResult::Accepted;
    }

-    // already engaged
-    if (currentlyEngaged == plannedMove) {
+    // already engaged or disengaged
+    if (currentlyEngaged == plannedMove && currentSlot == plannedSlot) {
        return OperationResult::Accepted;
    }

--- a/src/modules/leds.cpp
+++ b/src/modules/leds.cpp
@ -2,6 +2,7 @@
 #include "leds.h"
 #include "../hal/shr16.h"
 #include "timebase.h"
+#include "globals.h"

 namespace modules {
 namespace leds {
@ -68,5 +69,21 @@ void LEDs::SetAllOff() {
    }
 }

+void LEDs::ActiveSlotProcessing() {
+    SetPairButOffOthers(mg::globals.ActiveSlot(), ml::blink0, ml::off);
+}
+
+void LEDs::ActiveSlotError() {
+    SetPairButOffOthers(mg::globals.ActiveSlot(), ml::off, ml::blink0);
+}
+
+void LEDs::ActiveSlotDoneEmpty() {
+    SetPairButOffOthers(mg::globals.ActiveSlot(), ml::off, ml::off);
+}
+
+void LEDs::ActiveSlotDonePrimed() {
+    SetPairButOffOthers(mg::globals.ActiveSlot(), ml::on, ml::off);
+}
+
 } // namespace leds
 } // namespace modules
--- a/src/modules/leds.h
+++ b/src/modules/leds.h
@ -20,7 +20,7 @@ namespace leds {

 /// Enum of LED modes
 /// blink0 and blink1 allow for interlaced blinking of LEDs (one is on and the other off)
-enum Mode {
+enum Mode : uint8_t {
    off,
    on,
    blink0, ///< start blinking at even periods
@ -28,7 +28,7 @@ enum Mode {
 };

 /// Enum of LEDs color - green or red
-enum Color {
+enum Color : uint8_t {
    red = 0,
    green = 1
 };
@ -122,6 +122,14 @@ public:
    /// Turn off all LEDs
    void SetAllOff();

+    /// Convenience functions - provide uniform implementation of LED behaviour through all the logic commands.
+    /// Intentionally not inlined to save quite some space (140B)
+    /// It's not a clean solution, LEDs should not know about mg::globals.ActiveSlot(), but the savings are important
+    void ActiveSlotProcessing();
+    void ActiveSlotError();
+    void ActiveSlotDoneEmpty();
+    void ActiveSlotDonePrimed();
+
 private:
    constexpr static const uint8_t ledPairs = config::toolCount;
    /// pairs of LEDs:
--- a/src/modules/movable_base.h
+++ b/src/modules/movable_base.h
@ -11,7 +11,7 @@ namespace motion {
 class MovableBase {
 public:
    /// Internal states of the state machine
-    enum {
+    enum : uint8_t {
        Ready = 0, // intentionally set as zero in order to allow zeroing the Idler structure upon startup -> avoid explicit initialization code
        Moving = 1,
        PlannedHome = 2,
--- a/src/modules/permanent_storage.h
+++ b/src/modules/permanent_storage.h
@ -68,7 +68,7 @@ public:
    static bool set(uint8_t filament);

 private:
-    enum Key {
+    enum Key : uint8_t {
        KeyFront1,
        KeyReverse1,
        KeyFront2,
--- a/src/modules/pulley.cpp
+++ b/src/modules/pulley.cpp
@ -11,11 +11,6 @@ namespace pulley {

 Pulley pulley;

-bool __attribute__((noinline)) Pulley::FinishHomingAndPlanMoveToParkPos() {
-    mm::motion.SetPosition(mm::Pulley, 0);
-    return true;
-}
-
 bool Pulley::Step() {
    if (IsOnHold()) {
        return true; // just wait, do nothing!
@ -28,10 +23,6 @@ bool Pulley::Step() {
    case Moving:
        PerformMove();
        return false;
-    case HomeBack:
-        homingValid = true;
-        FinishHomingAndPlanMoveToParkPos();
-        return true;
    case Ready:
        return true;
    case TMCFailed:
--- a/src/modules/pulley.h
+++ b/src/modules/pulley.h
@ -44,7 +44,7 @@ protected:
    virtual void PrepareMoveToPlannedSlot() override {}
    virtual void PlanHomingMoveForward() override {}
    virtual void PlanHomingMoveBack() override {}
-    virtual bool FinishHomingAndPlanMoveToParkPos() override;
+    virtual bool FinishHomingAndPlanMoveToParkPos() override { return true; }
    virtual void FinishMove() override {}
 };

--- a/src/modules/selector.cpp
+++ b/src/modules/selector.cpp
@ -35,7 +35,7 @@ void Selector::PlanHomingMoveBack() {

 bool Selector::FinishHomingAndPlanMoveToParkPos() {
    // check the axis' length
-    if (AxisDistance(mm::axisUnitToTruncatedUnit<config::U_mm>(mm::motion.CurPosition<mm::Selector>())) < (config::selectorLimits.lenght.v - 3)) { //@@TODO is 3mm ok?
+    if (AxisDistance(mm::axisUnitToTruncatedUnit<config::U_mm>(mm::motion.CurPosition<mm::Selector>())) < uint16_t(config::selectorLimits.lenght.v - 3)) { //@@TODO is 3mm ok?
        return false; // we couldn't home correctly, we cannot set the Selector's position
    }

--- a/src/modules/usb_cdc.cpp
+++ b/src/modules/usb_cdc.cpp
@ -25,13 +25,13 @@ USB_ClassInfo_CDC_Device_t VirtualSerial_CDC_Interface = {
            .Address = CDC_TX_EPADDR,
            .Size = CDC_TXRX_EPSIZE,
            .Type = EP_TYPE_BULK,
-            .Banks = 2,
+            .Banks = 1,
        },
        .DataOUTEndpoint = {
            .Address = CDC_RX_EPADDR,
            .Size = CDC_TXRX_EPSIZE,
            .Type = EP_TYPE_BULK,
-            .Banks = 2,
+            .Banks = 1,
        },
        .NotificationEndpoint = {
            .Address = CDC_NOTIFICATION_EPADDR,
@ -90,6 +90,14 @@ namespace usb {
 CDC cdc;

 void CDC::Init() {
+#if defined(USE_STATIC_OPTIONS) && (USE_STATIC_OPTIONS & USB_OPT_MANUAL_PLL)
+#if defined(USB_SERIES_4_AVR)
+	PLLFRQ = ((1 << PLLUSB) | (1 << PDIV3) | (1 << PDIV1));
+#endif
+	USB_PLL_On();
+	while (!(USB_PLL_IsReady()));
+#endif
+
    USB_Init();

    /* Create a regular character stream for the interface so that it can be used with the stdio.h functions */
--- a/src/pins.h
+++ b/src/pins.h
@ -3,28 +3,28 @@
 #include "hal/gpio.h"

 /// pin definitions
-static constexpr hal::gpio::GPIO_pin TMC2130_SPI_MISO_PIN = { GPIOB, 3 };
-static constexpr hal::gpio::GPIO_pin TMC2130_SPI_MOSI_PIN = { GPIOB, 2 };
-static constexpr hal::gpio::GPIO_pin TMC2130_SPI_SCK_PIN = { GPIOB, 1 };
-static constexpr hal::gpio::GPIO_pin TMC2130_SPI_SS_PIN = { GPIOB, 0 };
+static constexpr hal::gpio::GPIO_pin TMC2130_SPI_MISO_PIN = { GPIOB, (1 << 3) };
+static constexpr hal::gpio::GPIO_pin TMC2130_SPI_MOSI_PIN = { GPIOB, (1 << 2) };
+static constexpr hal::gpio::GPIO_pin TMC2130_SPI_SCK_PIN = { GPIOB, (1 << 1) };
+static constexpr hal::gpio::GPIO_pin TMC2130_SPI_SS_PIN = { GPIOB, (1 << 0) };

-static constexpr hal::gpio::GPIO_pin SHR16_DATA = { GPIOB, 5 }; ///DS
-static constexpr hal::gpio::GPIO_pin SHR16_LATCH = { GPIOB, 6 }; ///STCP
-static constexpr hal::gpio::GPIO_pin SHR16_CLOCK = { GPIOC, 7 }; ///SHCP
+static constexpr hal::gpio::GPIO_pin SHR16_DATA = { GPIOB, (1 << 5) }; ///DS
+static constexpr hal::gpio::GPIO_pin SHR16_LATCH = { GPIOB, (1 << 6) }; ///STCP
+static constexpr hal::gpio::GPIO_pin SHR16_CLOCK = { GPIOC, (1 << 7) }; ///SHCP

-static constexpr hal::gpio::GPIO_pin USART_RX = { GPIOD, 2 };
-static constexpr hal::gpio::GPIO_pin USART_TX = { GPIOD, 3 };
+static constexpr hal::gpio::GPIO_pin USART_RX = { GPIOD, (1 << 2) };
+static constexpr hal::gpio::GPIO_pin USART_TX = { GPIOD, (1 << 3) };

-static constexpr hal::gpio::GPIO_pin PULLEY_CS_PIN = { GPIOC, 6 };
-static constexpr hal::gpio::GPIO_pin PULLEY_SG_PIN = { GPIOF, 4 };
-static constexpr hal::gpio::GPIO_pin PULLEY_STEP_PIN = { GPIOB, 4 };
+static constexpr hal::gpio::GPIO_pin PULLEY_CS_PIN = { GPIOC, (1 << 6) };
+static constexpr hal::gpio::GPIO_pin PULLEY_SG_PIN = { GPIOF, (1 << 4) };
+static constexpr hal::gpio::GPIO_pin PULLEY_STEP_PIN = { GPIOB, (1 << 4) };

-static constexpr hal::gpio::GPIO_pin SELECTOR_CS_PIN = { GPIOD, 7 };
-static constexpr hal::gpio::GPIO_pin SELECTOR_SG_PIN = { GPIOF, 1 };
-static constexpr hal::gpio::GPIO_pin SELECTOR_STEP_PIN = { GPIOD, 4 };
+static constexpr hal::gpio::GPIO_pin SELECTOR_CS_PIN = { GPIOD, (1 << 7) };
+static constexpr hal::gpio::GPIO_pin SELECTOR_SG_PIN = { GPIOF, (1 << 1) };
+static constexpr hal::gpio::GPIO_pin SELECTOR_STEP_PIN = { GPIOD, (1 << 4) };

-static constexpr hal::gpio::GPIO_pin IDLER_CS_PIN = { GPIOB, 7 };
-static constexpr hal::gpio::GPIO_pin IDLER_SG_PIN = { GPIOF, 0 };
-static constexpr hal::gpio::GPIO_pin IDLER_STEP_PIN = { GPIOD, 6 };
+static constexpr hal::gpio::GPIO_pin IDLER_CS_PIN = { GPIOB, (1 << 7) };
+static constexpr hal::gpio::GPIO_pin IDLER_SG_PIN = { GPIOF, (1 << 0) };
+static constexpr hal::gpio::GPIO_pin IDLER_STEP_PIN = { GPIOD, (1 << 6) };

-static constexpr hal::gpio::GPIO_pin FINDA_PIN = { GPIOF, 6 }; /// PF6     A1      ADC6/TDI
+static constexpr hal::gpio::GPIO_pin FINDA_PIN = { GPIOF, (1 << 6) }; /// PF6     A1      ADC6/TDI
--- a/src/registers.cpp
+++ b/src/registers.cpp
@ -145,9 +145,9 @@
 | 0x0bh 11 | uint8    | extra_load_distance        | 00h 0        | 1eh 30      | unit mm                                  | Read / Write | M707 A0x0b | M708 A0x0b Xnn
 | 0x0ch 12 | uint8    | FSensor_unload_check_dist. | 00h 0        | 28h 30      | unit mm                                  | Read / Write | M707 A0x0c | M708 A0x0c Xnn
 | 0x0dh 13 | uint16   | Pulley_unload_feedrate     | 0000h 0      | 005fh 95    | unit mm/s                                | Read / Write | M707 A0x0d | M708 A0x0d Xnnnn
-| 0x0eh 14 | uint16   | Pulley_acceleration        | 0000h 0      | 320h 800.0  | unit mm/s²                               | Read (Write) | M707 A0x0e | (M708 A0x0e Xnnnn)
-| 0x0fh 15 | uint16   | Selector_acceleration      | 0000h 0      | 00c8h 200.0 | unit mm/s²                               | Read (Write) | M707 A0x0f | (M708 A0x0f Xnnnn)
-| 0x10h 16 | uint16   | Idler_acceleration         | 0000h 0      | 01f4h 500.0 | unit deg/s²                              | Read (Write) | M707 A0x10 | (M708 A0x10 Xnnnn)
+| 0x0eh 14 | uint16   | Pulley_acceleration        | 0000h 0      | 320h 800.0  | unit mm/s²                               | Read / Write | M707 A0x0e | M708 A0x0e Xnnnn
+| 0x0fh 15 | uint16   | Selector_acceleration      | 0000h 0      | 00c8h 200.0 | unit mm/s²                               | Read / Write | M707 A0x0f | M708 A0x0f Xnnnn
+| 0x10h 16 | uint16   | Idler_acceleration         | 0000h 0      | 01f4h 500.0 | unit deg/s²                              | Read / Write | M707 A0x10 | M708 A0x10 Xnnnn
 | 0x11h 17 | uint16   | Pulley_load_feedrate       | 0000h 0      | 005fh 95    | unit mm/s                                | Read / Write | M707 A0x11 | M708 A0x11 Xnnnn
 | 0x12h 18 | uint16   | Selector_nominal_feedrate  | 0000h 0      | 002dh 45    | unit mm/s                                | Read / Write | M707 A0x12 | M708 A0x12 Xnnnn
 | 0x13h 19 | uint16   | Idler_nominal_feedrate     | 0000h 0      | 012ch 300   | unit deg/s                               | Read / Write | M707 A0x13 | M708 A0x13 Xnnnn
@ -166,46 +166,9 @@
 | 0x20h 32 | uint16   | Set/Get Idler iRun current | 0-31         | 1fh 31      | 31->530mA: see TMC2130 current conversion| Read / Write | M707 A0x20 | M708 A0x20 Xn
 | 0x21h 33 | uint16   | Reserved for internal use  | 225          |             | N/A                                      | N/A          | N/A        | N/A
 | 0x22h 34 | uint16   | Bowden length              | 341-1000     | 168h 360    | unit mm                                  | Read / Write Persistent | M707 A0x22 | M708 A0x22 Xn
+| 0x23h 35 | uint8    | Cut length                 | 0-255        | 8           | unit mm                                  | Read / Write | M707 A0x23 | M708 A0x23 Xn
 */

-struct __attribute__((packed)) RegisterFlags {
-    struct __attribute__((packed)) A {
-        uint8_t size : 2; // 0: 1 bit, 1: 1 byte, 2: 2 bytes - keeping size as the lowest 2 bits avoids costly shifts when accessing them
-        uint8_t writable : 1;
-        uint8_t rwfuncs : 1; // 1: register needs special read and write functions
-        constexpr A(uint8_t size, bool writable)
-            : size(size)
-            , writable(writable)
-            , rwfuncs(0) {}
-        constexpr A(uint8_t size, bool writable, bool rwfuncs)
-            : size(size)
-            , writable(writable)
-            , rwfuncs(rwfuncs) {}
-    };
-    union __attribute__((packed)) U {
-        A bits;
-        uint8_t b;
-        constexpr U(uint8_t size, bool writable)
-            : bits(size, writable) {}
-        constexpr U(uint8_t size, bool writable, bool rwfuncs)
-            : bits(size, writable, rwfuncs) {}
-        constexpr U(uint8_t b)
-            : b(b) {}
-    } u;
-    constexpr RegisterFlags(uint8_t size, bool writable)
-        : u(size, writable) {}
-    constexpr RegisterFlags(uint8_t size, bool writable, bool rwfuncs)
-        : u(size, writable, rwfuncs) {}
-    explicit constexpr RegisterFlags(uint8_t b)
-        : u(b) {}
-
-    constexpr bool Writable() const { return u.bits.writable; }
-    constexpr bool RWFuncs() const { return u.bits.rwfuncs; }
-    constexpr uint8_t Size() const { return u.bits.size; }
-};
-
-static_assert(sizeof(RegisterFlags) == 1);
-
 using TReadFunc = uint16_t (*)();
 using TWriteFunc = void (*)(uint16_t);

@ -213,7 +176,6 @@ using TWriteFunc = void (*)(uint16_t);
 static constexpr uint16_t dummyZero = 0;

 struct __attribute__((packed)) RegisterRec {
-    RegisterFlags flags;
    union __attribute__((packed)) U1 {
        void *addr;
        TReadFunc readFunc;
@ -232,29 +194,22 @@ struct __attribute__((packed)) RegisterRec {
            : addr(a) {}
    } A2;

-    template <typename T>
-    constexpr RegisterRec(bool writable, T *address)
-        : flags(RegisterFlags(sizeof(T), writable))
-        , A1((void *)address)
-        , A2((void *)nullptr) {}
-    constexpr RegisterRec(const TReadFunc &readFunc, uint8_t bytes)
-        : flags(RegisterFlags(bytes, false, true))
-        , A1(readFunc)
+    constexpr RegisterRec(const TReadFunc &readFunc)
+        : A1(readFunc)
        , A2((void *)nullptr) {}

-    constexpr RegisterRec(const TReadFunc &readFunc, const TWriteFunc &writeFunc, uint8_t bytes)
-        : flags(RegisterFlags(bytes, true, true))
-        , A1(readFunc)
+    constexpr RegisterRec(const TReadFunc &readFunc, const TWriteFunc &writeFunc)
+        : A1(readFunc)
        , A2(writeFunc) {}

    constexpr RegisterRec()
-        : flags(RegisterFlags(1, false, false))
-        , A1((void *)&dummyZero)
+        : A1((void *)&dummyZero)
        , A2((void *)nullptr) {}
 };

 // Make sure the structure is tightly packed - necessary for unit tests.
-static_assert(sizeof(RegisterRec) == sizeof(uint8_t) + sizeof(void *) + sizeof(void *));
+static_assert(sizeof(RegisterRec) == /*sizeof(uint8_t) +*/ sizeof(void *) + sizeof(void *));
+
 // Beware: the size is expected to be 17B on an x86_64 and it requires the platform to be able to do unaligned reads.
 // That might be a problem when running unit tests on non-x86 platforms.
 // So far, no countermeasures have been taken to tackle this potential issue.
@ -273,174 +228,161 @@ static_assert(sizeof(RegisterRec) == sizeof(uint8_t) + sizeof(void *) + sizeof(v
 // sts <modules::globals::globals+0x4>, r24
 // ret
 //
-// @@TODO at the moment we are having problems compiling this array statically into PROGMEM.
-// In this project that's really not an issue since we have half of the RAM empty:
-// Data: 1531 bytes (59.8% Full)
-// But it would be nice to fix that in the future - might be hard to push the compiler to such a construct
+// @@TODO
+// The "ret" instruction actually is a serious overhead since it is present in every lambda function.
+// The only way around is a giant C-style switch which screws up the beauty of this array of registers.
+// But it will save a few bytes.
 static const RegisterRec registers[] PROGMEM = {
    // 0x00
-    RegisterRec(false, &project_major),
+    RegisterRec([]() -> uint16_t { return project_major; }),
    // 0x01
-    RegisterRec(false, &project_minor),
+    RegisterRec([]() -> uint16_t { return project_minor; }),
    // 0x02
-    RegisterRec(false, &project_revision),
+    RegisterRec([]() -> uint16_t { return project_revision; }),
    // 0x03
-    RegisterRec(false, &project_build_number),
+    RegisterRec([]() -> uint16_t { return project_build_number; }),
    // 0x04
    RegisterRec( // MMU errors
-        []() -> uint16_t { return mg::globals.DriveErrors(); }, // compiles to: <{lambda()#1}::_FUN()>: jmp <modules::permanent_storage::DriveError::get()>
+        []() -> uint16_t { return mg::globals.DriveErrors(); } // compiles to: <{lambda()#1}::_FUN()>: jmp <modules::permanent_storage::DriveError::get()>
        // [](uint16_t) {}, // @@TODO think about setting/clearing the error counter from the outside
-        2),
+        ),
    // 0x05
-    RegisterRec([]() -> uint16_t { return application.CurrentProgressCode(); }, 1),
+    RegisterRec([]() -> uint16_t { return application.CurrentProgressCode(); }),
    // 0x06
-    RegisterRec([]() -> uint16_t { return application.CurrentErrorCode(); }, 2),
+    RegisterRec([]() -> uint16_t { return application.CurrentErrorCode(); }),
    // 0x07 filamentState
    RegisterRec(
        []() -> uint16_t { return mg::globals.FilamentLoaded(); },
-        [](uint16_t v) { return mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), static_cast<mg::FilamentLoadState>(v)); },
-        1),
+        [](uint16_t v) { return mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), static_cast<mg::FilamentLoadState>(v)); }),
    // 0x08 FINDA
    RegisterRec(
-        []() -> uint16_t { return static_cast<uint16_t>(mf::finda.Pressed()); },
-        1),
+        []() -> uint16_t { return static_cast<uint16_t>(mf::finda.Pressed()); }),
    // 09 fsensor
    RegisterRec(
        []() -> uint16_t { return static_cast<uint16_t>(mfs::fsensor.Pressed()); },
-        [](uint16_t v) { return mfs::fsensor.ProcessMessage(v != 0); },
-        1),
+        [](uint16_t v) { return mfs::fsensor.ProcessMessage(v != 0); }),
    // 0xa motor mode (stealth = 1/normal = 0)
-    RegisterRec([]() -> uint16_t { return static_cast<uint16_t>(mg::globals.MotorsStealth()); }, 1),
+    RegisterRec([]() -> uint16_t { return static_cast<uint16_t>(mg::globals.MotorsStealth()); }),
    // 0xb extra load distance after fsensor triggered (30mm default) [mm] RW
    RegisterRec(
        []() -> uint16_t { return mg::globals.FSensorToNozzle_mm().v; },
-        [](uint16_t d) { mg::globals.SetFSensorToNozzle_mm(d); },
-        1),
+        [](uint16_t d) { mg::globals.SetFSensorToNozzle_mm(d); }),
    // 0x0c fsensor unload check distance (40mm default) [mm] RW
    RegisterRec(
        []() -> uint16_t { return mg::globals.FSensorUnloadCheck_mm().v; },
-        [](uint16_t d) { mg::globals.SetFSensorUnloadCheck_mm(d); },
-        1),
+        [](uint16_t d) { mg::globals.SetFSensorUnloadCheck_mm(d); }),

    // 0xd 2 Pulley unload feedrate [mm/s] RW
    RegisterRec(
        []() -> uint16_t { return mg::globals.PulleyUnloadFeedrate_mm_s().v; },
-        [](uint16_t d) { mg::globals.SetPulleyUnloadFeedrate_mm_s(d); },
-        2),
+        [](uint16_t d) { mg::globals.SetPulleyUnloadFeedrate_mm_s(d); }),

    // 0xe Pulley acceleration [mm/s2] RW
    RegisterRec(
-        []() -> uint16_t { return config::pulleyLimits.accel.v; },
-        //@@TODO please update documentation as well
-        2),
+        []() -> uint16_t {
+            mm::steps_t val = mm::motion.Acceleration(config::Pulley);
+            return mm::axisUnitToTruncatedUnit<config::U_mm_s2>(mm::P_accel_t({ val }));
+        },
+        [](uint16_t d) { mm::motion.SetAcceleration(config::Pulley, mm::unitToSteps<mm::P_accel_t>(config::U_mm_s2({ (long double)d }))); }),
    // 0xf Selector acceleration [mm/s2] RW
    RegisterRec(
-        []() -> uint16_t { return config::selectorLimits.accel.v; },
-        //@@TODO please update documentation as well
-        2),
+        []() -> uint16_t {
+            mm::steps_t val = mm::motion.Acceleration(config::Selector);
+            return mm::axisUnitToTruncatedUnit<config::U_mm_s2>(mm::S_accel_t({ val }));
+        },
+        [](uint16_t d) { (mm::motion.SetAcceleration(config::Selector, mm::unitToSteps<mm::S_accel_t>(config::U_mm_s2({ (long double)d })))); }),
    // 0x10 Idler acceleration [deg/s2] RW
    RegisterRec(
-        []() -> uint16_t { return config::idlerLimits.accel.v; },
-        //@@TODO please update documentation as well
-        2),
+        []() -> uint16_t {
+            mm::steps_t val = mm::motion.Acceleration(config::Idler);
+            return mm::axisUnitToTruncatedUnit<config::U_deg_s2>(mm::I_accel_t({ val }));
+        },
+        [](uint16_t d) { mm::motion.SetAcceleration(config::Idler, mm::unitToSteps<mm::I_accel_t>(config::U_deg_s2({ (long double)d }))); }),

    // 0x11 Pulley load feedrate [mm/s] RW
    RegisterRec(
        []() -> uint16_t { return mg::globals.PulleyLoadFeedrate_mm_s().v; },
-        [](uint16_t d) { mg::globals.SetPulleyLoadFeedrate_mm_s(d); },
-        2),
+        [](uint16_t d) { mg::globals.SetPulleyLoadFeedrate_mm_s(d); }),
    // 0x12 Selector nominal feedrate [mm/s] RW
    RegisterRec(
        []() -> uint16_t { return mg::globals.SelectorFeedrate_mm_s().v; },
-        [](uint16_t d) { mg::globals.SetSelectorFeedrate_mm_s(d); },
-        2),
+        [](uint16_t d) { mg::globals.SetSelectorFeedrate_mm_s(d); }),
    // 0x13 Idler nominal feedrate [deg/s] RW
    RegisterRec(
        []() -> uint16_t { return mg::globals.IdlerFeedrate_deg_s().v; },
-        [](uint16_t d) { mg::globals.SetIdlerFeedrate_deg_s(d); },
-        2),
+        [](uint16_t d) { mg::globals.SetIdlerFeedrate_deg_s(d); }),

    // 0x14 Pulley slow load to fsensor feedrate [mm/s] RW
    RegisterRec(
        []() -> uint16_t { return mg::globals.PulleySlowFeedrate_mm_s().v; },
-        [](uint16_t d) { mg::globals.SetPulleySlowFeedrate_mm_s(d); },
-        2),
+        [](uint16_t d) { mg::globals.SetPulleySlowFeedrate_mm_s(d); }),
    // 0x15 Selector homing feedrate [mm/s] RW
    RegisterRec(
        []() -> uint16_t { return mg::globals.SelectorHomingFeedrate_mm_s().v; },
-        [](uint16_t d) { mg::globals.SetSelectorHomingFeedrate_mm_s(d); },
-        2),
+        [](uint16_t d) { mg::globals.SetSelectorHomingFeedrate_mm_s(d); }),
    // 0x16 Idler homing feedrate [deg/s] RW
    RegisterRec(
        []() -> uint16_t { return mg::globals.IdlerHomingFeedrate_deg_s().v; },
-        [](uint16_t d) { mg::globals.SetIdlerHomingFeedrate_deg_s(d); },
-        2),
+        [](uint16_t d) { mg::globals.SetIdlerHomingFeedrate_deg_s(d); }),

    // 0x17 Pulley sg_thrs threshold RW
    RegisterRec(
        []() -> uint16_t { return mg::globals.StallGuardThreshold(config::Pulley); },
-        [](uint16_t d) { mg::globals.SetStallGuardThreshold(config::Pulley, d); },
-        1),
+        [](uint16_t d) { mg::globals.SetStallGuardThreshold(config::Pulley, d); }),
    // 0x18 Selector sg_thrs RW
    RegisterRec(
        []() -> uint16_t { return mg::globals.StallGuardThreshold(mm::Axis::Selector); },
-        [](uint16_t d) { mg::globals.SetStallGuardThreshold(mm::Axis::Selector, d); },
-        1),
+        [](uint16_t d) { mg::globals.SetStallGuardThreshold(mm::Axis::Selector, d); }),
    // 0x19 Idler sg_thrs RW
    RegisterRec(
        []() -> uint16_t { return mg::globals.StallGuardThreshold(mm::Axis::Idler); },
-        [](uint16_t d) { mg::globals.SetStallGuardThreshold(mm::Axis::Idler, d); },
-        1),
+        [](uint16_t d) { mg::globals.SetStallGuardThreshold(mm::Axis::Idler, d); }),

    // 0x1a Get Pulley position [mm] R
    RegisterRec(
-        []() -> uint16_t { return mpu::pulley.CurrentPosition_mm(); },
-        2),
+        []() -> uint16_t { return mpu::pulley.CurrentPosition_mm(); }),
    // 0x1b Set/Get Selector slot RW
    RegisterRec(
        []() -> uint16_t { return ms::selector.Slot(); },
-        [](uint16_t d) { ms::selector.MoveToSlot(d); },
-        1),
+        [](uint16_t d) { ms::selector.MoveToSlot(d); }),
    // 0x1c Set/Get Idler slot RW
    RegisterRec(
        []() -> uint16_t { return mi::idler.Slot(); },
-        [](uint16_t d) { d >= config::toolCount ? mi::idler.Disengage() : mi::idler.Engage(d); },
-        1),
+        [](uint16_t d) { d >= config::toolCount ? mi::idler.Disengage() : mi::idler.Engage(d); }),
    // 0x1d Set/Get Selector cut iRun current level RW
    RegisterRec(
        []() -> uint16_t { return mg::globals.CutIRunCurrent(); },
-        [](uint16_t d) { mg::globals.SetCutIRunCurrent(d); },
-        1),
+        [](uint16_t d) { mg::globals.SetCutIRunCurrent(d); }),

    // 0x1e Get/Set Pulley iRun current RW
    RegisterRec(
        []() -> uint16_t { return mm::motion.CurrentsForAxis(config::Pulley).iRun; },
-        [](uint16_t d) { mm::motion.SetIRunForAxis(config::Pulley, d); },
-        1),
+        [](uint16_t d) { mm::motion.SetIRunForAxis(config::Pulley, d); }),
    // 0x1f Set/Get Selector iRun current RW
    RegisterRec(
        []() -> uint16_t { return mm::motion.CurrentsForAxis(config::Selector).iRun; },
-        [](uint16_t d) { mm::motion.SetIRunForAxis(config::Selector, d); },
-        1),
+        [](uint16_t d) { mm::motion.SetIRunForAxis(config::Selector, d); }),
    // 0x20 Set/Get Idler iRun current RW
    RegisterRec(
        []() -> uint16_t { return mm::motion.CurrentsForAxis(config::Idler).iRun; },
-        [](uint16_t d) { mm::motion.SetIRunForAxis(config::Idler, d); },
-        1),
+        [](uint16_t d) { mm::motion.SetIRunForAxis(config::Idler, d); }),
    // 0x21 Current VCC voltage level R
    RegisterRec(
-        []() -> uint16_t { return 225; /*mv::vcc.CurrentBandgapVoltage();*/ },
-        2),
+        []() -> uint16_t { return 225; /*mv::vcc.CurrentBandgapVoltage();*/ }),

    // 0x22 Detected bowden length R
    RegisterRec(
        []() -> uint16_t { return mps::BowdenLength::Get(); },
-        [](uint16_t d) { mps::BowdenLength::Set(d); },
-        2),
+        [](uint16_t d) { mps::BowdenLength::Set(d); }),
+
+    // 0x23 Cut length
+    RegisterRec(
+        []() -> uint16_t { return mg::globals.CutLength().v; },
+        [](uint16_t d) { mg::globals.SetCutLength(d); }),
 };

 static constexpr uint8_t registersSize = sizeof(registers) / sizeof(RegisterRec);
-static_assert(registersSize == 35);
+static_assert(registersSize == 36);

 bool ReadRegister(uint8_t address, uint16_t &value) {
    if (address >= registersSize) {
@ -450,59 +392,27 @@ bool ReadRegister(uint8_t address, uint16_t &value) {

    // Get pointer to register at address
    const uint8_t *addr = reinterpret_cast<const uint8_t *>(registers + address);
-    const RegisterFlags rf(hal::progmem::read_byte(addr));
+
    // beware - abusing the knowledge of RegisterRec memory layout to do lpm_reads
-    const void *varAddr = addr + sizeof(RegisterFlags);
-    if (!rf.RWFuncs()) {
-        switch (rf.Size()) {
-        case 0:
-        case 1:
-            value = *hal::progmem::read_ptr<const uint8_t *>(varAddr);
-            break;
-        case 2:
-            value = *hal::progmem::read_ptr<const uint16_t *>(varAddr);
-            break;
-        default:
-            return false;
-        }
-        return true;
-    } else {
-        auto readFunc = hal::progmem::read_ptr<const TReadFunc>(varAddr);
-        value = readFunc();
-        return true;
-    }
+    const void *varAddr = addr;
+    auto readFunc = hal::progmem::read_ptr<const TReadFunc>(varAddr);
+    value = readFunc();
+    return true;
 }

 bool WriteRegister(uint8_t address, uint16_t value) {
    if (address >= registersSize) {
        return false;
    }
-
    const uint8_t *addr = reinterpret_cast<const uint8_t *>(registers + address);
-    const RegisterFlags rf(hal::progmem::read_byte(addr));

-    if (!rf.Writable()) {
+    // beware - abusing the knowledge of RegisterRec memory layout to do lpm_reads
+    // addr offset should be 2 on AVR, but 8 on x86_64, therefore "sizeof(void*)"
+    const void *varAddr = addr + sizeof(RegisterRec::A1);
+    auto writeFunc = hal::progmem::read_ptr<const TWriteFunc>(varAddr);
+    if (writeFunc == nullptr) {
        return false;
    }
-    // beware - abusing the knowledge of RegisterRec memory layout to do lpm_reads
-    // addr offset should be 3 on AVR, but 9 on x86_64, therefore "1 + sizeof(void*)"
-    const void *varAddr = addr + sizeof(RegisterFlags) + sizeof(RegisterRec::A1);
-    if (!rf.RWFuncs()) {
-        switch (rf.Size()) {
-        case 0:
-        case 1:
-            *hal::progmem::read_ptr<uint8_t *>(varAddr) = value;
-            break;
-        case 2:
-            *hal::progmem::read_ptr<uint16_t *>(varAddr) = value;
-            break;
-        default:
-            return false;
-        }
-        return true;
-    } else {
-        auto writeFunc = hal::progmem::read_ptr<const TWriteFunc>(varAddr);
-        writeFunc(value);
-        return true;
-    }
+    writeFunc(value);
+    return true;
 }
--- a/src/version.cpp
+++ b/src/version.cpp
@ -0,0 +1,16 @@
+#include <version.hpp>
+
+
+// Define structure at a fixed address in flash which contains information about the version of the firmware
+// This structure is read using the bootloader.
+struct Signatures {
+    uint8_t project_major;
+    uint8_t project_minor;
+    uint16_t project_revision;
+    uint16_t project_build_number;
+} static constexpr signatures __attribute__((section(".version"), used)) = {
+    PROJECT_VERSION_MAJOR,
+    PROJECT_VERSION_MINOR,
+    PROJECT_VERSION_REV,
+    PROJECT_BUILD_NUMBER,
+};
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@ -15,7 +15,7 @@ if(GCOV_ENABLE)
    COMMAND ${CMAKE_COMMAND} -E remove ${PROJECT_BINARY_DIR}/.ctest-finished
    )

-  set(ctest_test_args --timeout 30 --output-on-failure)
+  set(ctest_test_args --timeout 180 --output-on-failure)

  include(ProcessorCount)
  ProcessorCount(N)
@ -55,7 +55,8 @@ if(GCOV_ENABLE)
    COMMAND tar -zcvf Coverage.tar.gz Coverage
            # Cheat and compare a file to itself to check for existence. File-Not-Found is a failure
            # code.
-    COMMAND ../../utils/gcovr.py -r . -e '../../tests' -e '../../lib/Catch2' | tee Summary.txt
+    COMMAND ${PROJECT_SOURCE_DIR}/utils/gcovr.py -r ${CMAKE_SOURCE_DIR} -e 'tests' -e 'lib/Catch2' |
+            tee ${CMAKE_BINARY_DIR}/Summary.txt
    COMMAND ${CMAKE_COMMAND} -E compare_files ${PROJECT_BINARY_DIR}/.ctest-finished
            ${PROJECT_BINARY_DIR}/.ctest-finished
    BYPRODUCTS ${PROJECT_BINARY_DIR}/Summary.txt ${PROJECT_BINARY_DIR}/Coverage.tar.gz
--- a/tests/unit/logic/failing_tmc/test_failing_tmc.cpp
+++ b/tests/unit/logic/failing_tmc/test_failing_tmc.cpp
@ -51,7 +51,7 @@ void FailingMovableUnload(hal::tmc2130::ErrorFlags ef, ErrorCode ec, config::Axi
    // UnloadFilament starts by engaging the idler (through the UnloadToFinda state machine)
    uf.Reset(0);

-    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InNozzle, mi::Idler::IdleSlotIndex(), 0, true, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
+    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InNozzle, mi::Idler::IdleSlotIndex(), 0, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));

    REQUIRE(WhileCondition(
        uf,
--- a/tests/unit/logic/load_filament/test_load_filament.cpp
+++ b/tests/unit/logic/load_filament/test_load_filament.cpp
@ -84,6 +84,13 @@ void LoadFilamentSuccessful(uint8_t slot, logic::LoadFilament &lf) {
 void LoadFilamentSuccessfulWithRehomeSelector(uint8_t slot, logic::LoadFilament &lf) {
    // Stage 2 - feeding to finda
    // make FINDA switch on
+    // engaging idler
+
+    REQUIRE(WhileCondition(
+        lf,
+        [&](uint32_t) { return !mi::idler.Engaged(); },
+        5000));
+
    REQUIRE(WhileCondition(lf, std::bind(SimulateFeedToFINDA, _1, 100), 5000));
    REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, slot, slot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::RetractingFromFinda));

@ -176,8 +183,6 @@ void FailedLoadToFindaResolveTryAgain(uint8_t slot, logic::LoadFilament &lf) {
    REQUIRE(VerifyState(lf, mg::FilamentLoadState::InSelector, config::toolCount, slot, false, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
    ClearButtons(lf);

-    SimulateIdlerHoming(lf);
-
    LoadFilamentSuccessfulWithRehomeSelector(slot, lf);
 }

--- a/tests/unit/logic/stubs/homing.cpp
+++ b/tests/unit/logic/stubs/homing.cpp
@ -8,6 +8,8 @@

 #include "../stubs/stub_motion.h"

+#include "catch2/catch_test_macros.hpp"
+
 void SimulateIdlerAndSelectorHoming(logic::CommandBase &cb) {
 #if 0
    // do 5 steps until we trigger the simulated StallGuard
@ -58,6 +60,18 @@ void SimulateIdlerAndSelectorHoming(logic::CommandBase &cb) {

 void SimulateIdlerHoming(logic::CommandBase &cb) {
    uint32_t idlerStepsFwd = mm::unitToSteps<mm::I_pos_t>(config::idlerLimits.lenght - 5.0_deg);
+
+    // Sometimes the initial idler state is Ready. Let's wait for the firmware to start
+    // homing.
+    REQUIRE(WhileCondition(
+        cb,
+        [&](uint32_t) { return mi::idler.State() == mm::MovableBase::Ready; },
+        5000));
+
+    // At this point the idler should always be homing forward.
+    REQUIRE((int)mi::idler.State() == (int)mm::MovableBase::HomeForward);
+
+    // Simulate the idler steps in one direction (forward)
    for (uint32_t i = 0; i < idlerStepsFwd; ++i) {
        main_loop();
        cb.Step();
@ -68,6 +82,8 @@ void SimulateIdlerHoming(logic::CommandBase &cb) {
    cb.Step();
    mm::motion.StallGuardReset(mm::Idler);

+    REQUIRE((int)mi::idler.State() == (int)mm::MovableBase::HomeBack);
+
    // now do a correct amount of steps of each axis towards the other end
    uint32_t idlerSteps = mm::unitToSteps<mm::I_pos_t>(config::idlerLimits.lenght);
    uint32_t maxSteps = idlerSteps + 1;
@ -82,6 +98,9 @@ void SimulateIdlerHoming(logic::CommandBase &cb) {
            mm::motion.StallGuardReset(mm::Idler);
        }
    }
+
+    // If the homing has failed, the axis length was too short.
+    REQUIRE(!((mi::idler.State() & mm::MovableBase::HomingFailed) == mm::MovableBase::HomingFailed));
 }

 void SimulateIdlerWaitForHomingValid(logic::CommandBase &cb) {
@ -185,33 +204,40 @@ bool SimulateFailedHomeSelectorPostfix(logic::CommandBase &cb) {
 }

 bool SimulateFailedHomeFirstTime(logic::CommandBase &cb) {
-    if (mi::idler.HomingValid())
-        return false;
-    if (ms::selector.HomingValid())
-        return false;
+    REQUIRE(!mi::idler.HomingValid());
+    REQUIRE(!ms::selector.HomingValid());
+
+    // Idler homing is successful
+    SimulateIdlerHoming(cb);
+    SimulateIdlerWaitForHomingValid(cb);
+
+    // Selector homes once the idler homing is valid.
+    REQUIRE(mi::idler.HomingValid());
+    REQUIRE(!ms::selector.HomingValid());
+
+    // The selector will only rehome once the idler homing is valid. At that moment
+    // the state will change to HomeForward.
+    REQUIRE(WhileCondition(
+        cb,
+        [&](uint32_t) { return ms::selector.State() != mm::MovableBase::HomeForward; },
+        5000));

    constexpr uint32_t selectorSteps = mm::unitToSteps<mm::S_pos_t>(config::selectorLimits.lenght) + 1;
    {
        // do 5 steps until we trigger the simulated StallGuard
-        constexpr uint32_t idlerStepsFwd = mm::unitToSteps<mm::I_pos_t>(config::idlerLimits.lenght - 5.0_deg);
-        static_assert(idlerStepsFwd < selectorSteps); // beware, we expect that the Idler homes faster than Selector (less steps)
-        for (uint32_t i = 0; i < idlerStepsFwd; ++i) {
+        for (uint32_t i = 0; i < selectorSteps; ++i) {
            main_loop();
            cb.Step();
        }

        mm::TriggerStallGuard(mm::Selector);
-        mm::TriggerStallGuard(mm::Idler);
        main_loop();
        cb.Step();
        mm::motion.StallGuardReset(mm::Selector);
-        mm::motion.StallGuardReset(mm::Idler);
    }
-    // now do a correct amount of steps of each axis towards the other end
-    constexpr uint32_t idlerSteps = mm::unitToSteps<mm::I_pos_t>(config::idlerLimits.lenght);
-    // now do LESS steps than expected to simulate something is blocking the selector

-    constexpr uint32_t selectorTriggerShort = std::min(idlerSteps, selectorSteps) / 2;
+    // now do LESS steps than expected to simulate something is blocking the selector
+    constexpr uint32_t selectorTriggerShort = selectorSteps / 2;
    constexpr uint32_t maxSteps = selectorTriggerShort + 1;
    {
        for (uint32_t i = 0; i < maxSteps; ++i) {
@ -225,17 +251,6 @@ bool SimulateFailedHomeFirstTime(logic::CommandBase &cb) {
            }
        }

-        // make sure the Idler finishes its homing procedure (makes further checks much easier)
-        for (uint32_t i = maxSteps; i < idlerSteps + 1; ++i) {
-            main_loop();
-            cb.Step();
-            if (i == idlerSteps) {
-                mm::TriggerStallGuard(mm::Idler);
-            } else {
-                mm::motion.StallGuardReset(mm::Idler);
-            }
-        }
-
        while (!(ms::selector.State() & mm::MovableBase::OnHold)) {
            main_loop();
            cb.Step();
--- a/tests/unit/logic/stubs/main_loop_stub.cpp
+++ b/tests/unit/logic/stubs/main_loop_stub.cpp
@ -79,19 +79,27 @@ void ForceReinitAllAutomata() {
    mg::globals.Init();
    mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::AtPulley);
 }
+void HomeIdler() {
+    logic::NoCommand nc; // just a dummy instance which has an empty Step()
+    SimulateIdlerHoming(nc);
+    SimulateIdlerWaitForHomingValid(nc);
+    SimulateIdlerMoveToParkingPosition(nc);
+}
+
+void HomeSelector() {
+    logic::NoCommand nc; // just a dummy instance which has an empty Step()
+    SimulateSelectorHoming(nc);
+    SimulateSelectorWaitForHomingValid(nc);
+    SimulateSelectorWaitForReadyState(nc);
+}

 void HomeIdlerAndSelector() {
    mi::idler.InvalidateHoming();
    ms::selector.InvalidateHoming();
-    logic::NoCommand nc; // just a dummy instance which has an empty Step()

-    SimulateIdlerHoming(nc);
-    SimulateIdlerWaitForHomingValid(nc);
-    SimulateIdlerMoveToParkingPosition(nc);
+    HomeIdler();

-    SimulateSelectorHoming(nc);
-    SimulateSelectorWaitForHomingValid(nc);
-    SimulateSelectorWaitForReadyState(nc);
+    HomeSelector();
 }

 bool EnsureActiveSlotIndex(uint8_t slot, mg::FilamentLoadState loadState) {
@ -181,10 +189,10 @@ void SimulateErrDisengagingIdler(logic::CommandBase &cb, ErrorCode deferredEC) {
    REQUIRE(WhileCondition(
        cb, [&](uint32_t) {
            if (cb.TopLevelState() == ProgressCode::ERRDisengagingIdler) {
-                REQUIRE(cb.Error() == ErrorCode::RUNNING); // ensure the error gets never set while disengaging the idler
+                REQUIRE((cb.Error() == ErrorCode::RUNNING)); // ensure the error gets never set while disengaging the idler
                return true;
            } else {
-                REQUIRE(cb.Error() == deferredEC);
+                REQUIRE((cb.Error() == deferredEC));
                return false;
            }
        },
--- a/tests/unit/logic/stubs/main_loop_stub.h
+++ b/tests/unit/logic/stubs/main_loop_stub.h
@ -1,6 +1,7 @@
 #pragma once
 #include "../../../../src/logic/command_base.h"
 #include "../../../../src/modules/globals.h"
+#include "../../../../src/modules/idler.h"

 extern void main_loop();
 extern void ForceReinitAllAutomata();
@ -44,3 +45,21 @@ static constexpr uint32_t selectorMoveMaxSteps = 40000UL;
 void HomeIdlerAndSelector();

 void SimulateErrDisengagingIdler(logic::CommandBase &cb, ErrorCode deferredEC);
+
+template <typename T>
+bool SimulateEngageIdlerFully(T &cb) {
+    return WhileCondition(
+        cb,
+        [&](uint32_t) { return !mi::idler.Engaged(); },
+        5000);
+}
+
+template <typename T>
+bool SimulateEngageIdlerPartially(T &cb) {
+    return WhileCondition(
+        cb,
+        [&](uint32_t) { return !mi::idler.PartiallyDisengaged(); },
+        5000);
+}
+
+void HomeIdler();
--- a/tests/unit/logic/tool_change/test_tool_change.cpp
+++ b/tests/unit/logic/tool_change/test_tool_change.cpp
@ -328,13 +328,43 @@ void ToolChangeFailFSensor(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSl
    // restart the automaton
    tc.Reset(toSlot);

-    REQUIRE(VerifyState(tc, mg::FilamentLoadState::InNozzle, mi::idler.IdleSlotIndex(), fromSlot, true, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));
-    // simulate unload to finda but fail the fsensor test
-    REQUIRE(WhileCondition(tc, std::bind(SimulateUnloadToFINDA, _1, 500'000, 10'000), 200'000));
-    REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, mi::idler.IdleSlotIndex(), fromSlot, false, false, ml::off, ml::blink0, ErrorCode::FSENSOR_DIDNT_SWITCH_OFF, ProgressCode::UnloadingFilament));
+    REQUIRE(VerifyState(tc, mg::FilamentLoadState::InNozzle, mi::idler.IdleSlotIndex(), fromSlot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));
+
+    // now simulate unload to finda but fail the fsensor test - that means basically waiting for 4 seconds
+    for (uint32_t ms = 0; ms < 4000; ++ms) {
+        main_loop(); // increments 1ms each run
+        tc.Step();
+    }
+
+    // UnloadFilament.unl finds out, that fsensor didn't turn off in time
+    main_loop();
+    tc.Step();
+
+    // UnloadFilament starts error handling
+    main_loop();
+    tc.Step();
+
+    // wait for the Idler to be disengaged in error state
+    REQUIRE(WhileCondition(
+        tc, [&](uint32_t) {
+            return tc.State() == ProgressCode::ERRDisengagingIdler;
+        },
+        idlerEngageDisengageMaxSteps));
+
+    REQUIRE(VerifyState(tc, mg::FilamentLoadState::InNozzle, mi::idler.IdleSlotIndex(), fromSlot, true, false, ml::off, ml::blink0, ErrorCode::FSENSOR_DIDNT_SWITCH_OFF, ProgressCode::UnloadingFilament));
    REQUIRE(tc.unl.State() == ProgressCode::ERRWaitingForUser);
 }

+bool SimulateUnloadFilamentUntilSelectorRehoming(uint32_t step, const logic::ToolChange *tc, uint32_t unloadLengthSteps) {
+    if (step == 20) { // on 20th step make FSensor switch off
+        mfs::fsensor.ProcessMessage(false);
+    } else if (step == unloadLengthSteps) {
+        FINDAOnOff(false);
+    }
+    // end simulation at the DisengagingIdler stage, selector re-homing will take place later
+    return tc->unl.State() != ProgressCode::DisengagingIdler;
+}
+
 void ToolChangeFailFSensorMiddleBtn(logic::ToolChange &tc, uint8_t fromSlot, uint8_t toSlot) {
    using namespace std::placeholders;

@ -343,43 +373,31 @@ void ToolChangeFailFSensorMiddleBtn(logic::ToolChange &tc, uint8_t fromSlot, uin
    REQUIRE_FALSE(mui::userInput.AnyEvent());
    PressButtonAndDebounce(tc, mb::Middle, true);

-    REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, mi::idler.IdleSlotIndex(), fromSlot, false, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));
-    REQUIRE(tc.unl.State() == ProgressCode::FeedingToFinda); // MMU must find out where the filament is FS is OFF, FINDA is OFF
+    REQUIRE(VerifyState(tc, mg::FilamentLoadState::InNozzle, mi::idler.IdleSlotIndex(), fromSlot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));

    // both movables should have their homing flag invalidated
    REQUIRE_FALSE(mi::idler.HomingValid());
    REQUIRE_FALSE(ms::selector.HomingValid());

-    // make FINDA trigger - Idler will rehome in this step, Selector must remain at its place
    SimulateIdlerHoming(tc);
-
-    REQUIRE_FALSE(mi::idler.HomingValid());
-    REQUIRE_FALSE(ms::selector.HomingValid());
-
    SimulateIdlerWaitForHomingValid(tc);

    REQUIRE(mi::idler.HomingValid());
    REQUIRE_FALSE(ms::selector.HomingValid());

-    SimulateIdlerMoveToParkingPosition(tc);
-
-    // now trigger the FINDA
-    REQUIRE(WhileCondition(tc, std::bind(SimulateFeedToFINDA, _1, 100), 5000));
-    REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, fromSlot, fromSlot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));
-    REQUIRE(tc.unl.State() == ProgressCode::RetractingFromFinda);
-
-    // make FINDA switch off
-    REQUIRE(WhileCondition(tc, std::bind(SimulateRetractFromFINDA, _1, 100), 5000));
+    // perform a successful unload
+    // During the last stage (DisengagingIdler), the Selector will start re-homing - needs special handling
    REQUIRE(WhileCondition(
-        tc, [&](uint32_t) { return tc.unl.State() == ProgressCode::RetractingFromFinda; }, 50000));
+        tc,
+        std::bind(SimulateUnloadFilamentUntilSelectorRehoming, _1, &tc, mm::unitToSteps<mm::P_pos_t>(config::minimumBowdenLength)),
+        200'000UL));

-    // Selector will start rehoming at this stage - that was the error this test was to find
-    REQUIRE(VerifyState(tc, mg::FilamentLoadState::AtPulley, fromSlot, config::toolCount, false, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));
-    REQUIRE(tc.unl.State() == ProgressCode::DisengagingIdler);
    SimulateSelectorHoming(tc);
+    SimulateSelectorWaitForHomingValid(tc);
+
+    // Selector should be moving to the target slot to accomplish the unload phase
+    REQUIRE(WhileTopState(tc, ProgressCode::UnloadingFilament, 50'000));

-    // Idler has probably engaged meanwhile, ignore its position check
-    REQUIRE(WhileTopState(tc, ProgressCode::UnloadingFilament, 50000));
    REQUIRE(VerifyState2(tc, mg::FilamentLoadState::AtPulley, config::toolCount, fromSlot, false, false, toSlot, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));

    // after that, perform a normal load
@ -528,7 +546,7 @@ void ToolChangeFSENSOR_TOO_EARLY(logic::ToolChange &tc, uint8_t slot) {

    // make AutoRetry
    PressButtonAndDebounce(tc, mb::Middle, true);
-    REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, mi::idler.IdleSlotIndex(), slot, true, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));
+    REQUIRE(VerifyState(tc, mg::FilamentLoadState::InSelector, mi::idler.IdleSlotIndex(), slot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingFilament));

    SimulateIdlerHoming(tc);

--- a/tests/unit/logic/unload_filament/test_unload_filament.cpp
+++ b/tests/unit/logic/unload_filament/test_unload_filament.cpp
@ -53,16 +53,10 @@ void RegularUnloadFromSlot04(uint8_t slot, logic::UnloadFilament &uf, uint8_t en
    REQUIRE(VerifyState(uf, (mg::FilamentLoadState)(mg::FilamentLoadState::InNozzle | mg::FilamentLoadState::InSelector),
        entryIdlerSlotIndex, slot, true, true, entryGreenLED, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));

-    // run the automaton
-    // Stage 1 - unloading to FINDA
-    REQUIRE(WhileCondition(
-        uf,
-        [&](uint32_t step) -> bool {
-        if(step == 100){ // on 100th step make FINDA trigger
-            hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::low);
-        }
-        return uf.TopLevelState() == ProgressCode::UnloadingToFinda; },
-        50000));
+    REQUIRE(WhileCondition(uf, std::bind(SimulateUnloadToFINDA, _1, 100, 2'000), 200'000));
+
+    main_loop();
+    uf.Step();

    // we still think we have filament loaded at this stage
    // idler should have been activated by the underlying automaton
@ -100,7 +94,7 @@ TEST_CASE("unload_filament::regular_unload_from_slot_0-4", "[unload_filament]")
    for (uint8_t slot = 0; slot < config::toolCount; ++slot) {
        logic::UnloadFilament uf;
        RegularUnloadFromSlot04Init(slot, uf);
-        RegularUnloadFromSlot04(slot, uf, mi::Idler::IdleSlotIndex(), false, ml::off);
+        RegularUnloadFromSlot04(slot, uf, mi::Idler::IdleSlotIndex(), false, ml::blink0);
    }
 }

@ -130,7 +124,7 @@ void FindaDidntTriggerCommonSetup(uint8_t slot, logic::UnloadFilament &uf) {
    // FINDA triggered off
    // green LED should be off
    // no error so far
-    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InNozzle, mi::Idler::IdleSlotIndex(), slot, true, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
+    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InNozzle, mi::Idler::IdleSlotIndex(), slot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));

    // run the automaton
    // Stage 1 - unloading to FINDA - do NOT let it trigger - keep it pressed, the automaton should finish all moves with the pulley
@ -177,7 +171,7 @@ void FindaDidntTriggerResolveTryAgain(uint8_t slot, logic::UnloadFilament &uf) {
    // no change in selector's position
    // FINDA still on
    // red LED should blink, green LED should be off
-    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, true, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));
+    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, true, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::UnloadingToFinda));

    ClearButtons(uf);

--- a/tests/unit/logic/unload_to_finda/test_unload_to_finda.cpp
+++ b/tests/unit/logic/unload_to_finda/test_unload_to_finda.cpp
@ -12,10 +12,12 @@
 #include "../../../../src/modules/motion.h"
 #include "../../../../src/modules/permanent_storage.h"
 #include "../../../../src/modules/selector.h"
+#include "../../../../src/modules/timebase.h"

 #include "../../../../src/logic/unload_to_finda.h"

 #include "../../modules/stubs/stub_adc.h"
+#include "../../modules/stubs/stub_timebase.h"

 #include "../stubs/main_loop_stub.h"
 #include "../stubs/stub_motion.h"
@ -24,7 +26,7 @@ using namespace std::placeholders;

 namespace ha = hal::adc;

-TEST_CASE("unload_to_finda::regular_unload", "[unload_to_finda]") {
+void UnloadToFindaCommonSetup(logic::UnloadToFinda &ff, uint8_t retryAttempts) {
    ForceReinitAllAutomata();
    REQUIRE(EnsureActiveSlotIndex(0, mg::FilamentLoadState::AtPulley));

@ -35,27 +37,41 @@ TEST_CASE("unload_to_finda::regular_unload", "[unload_to_finda]") {
    // and MMU "thinks" it has the filament loaded
    mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InNozzle);

-    logic::UnloadToFinda ff;
-
    // restart the automaton - just 1 attempt
-    ff.Reset(1);
+    ff.Reset(retryAttempts);

    REQUIRE(ff.State() == logic::UnloadToFinda::EngagingIdler);

    // it should have instructed the selector and idler to move to slot 1
    // check if the idler and selector have the right command
-    CHECK(mm::AxisNearestTargetPos(mm::Idler) == mi::Idler::SlotPosition(0).v);
+    CHECK(mm::AxisNearestTargetPos(mm::Idler) == mi::Idler::IntermediateSlotPosition(0).v);
    CHECK(mm::AxisNearestTargetPos(mm::Selector) == ms::Selector::SlotPosition(0).v);

-    // engaging idler
-    REQUIRE(WhileCondition(
-        ff,
-        [&](uint32_t) { return !mi::idler.Engaged(); },
-        5000));
+    REQUIRE(SimulateEngageIdlerPartially(ff));
+}
+
+void UnloadToFindaCommonTurnOffFSensor(logic::UnloadToFinda &ff) {
+    // turn off fsensor - the printer freed the filament from the gears
+    SetFSensorStateAndDebounce(false);
+
+    // make sure we step ff to handle turned-off fsensor
+    ff.Step();
+
+    REQUIRE(ff.State() == logic::UnloadToFinda::UnloadingToFinda);
    CHECK(mm::axes[mm::Pulley].enabled == true);
+    CHECK(mm::AxisNearestTargetPos(mm::Idler) == mi::Idler::SlotPosition(0).v);
+
+    REQUIRE(SimulateEngageIdlerFully(ff));

    // now pulling the filament until finda triggers
    REQUIRE(ff.State() == logic::UnloadToFinda::WaitingForFINDA);
+}
+
+TEST_CASE("unload_to_finda::regular_unload", "[unload_to_finda]") {
+    logic::UnloadToFinda ff;
+    UnloadToFindaCommonSetup(ff, 1);
+    UnloadToFindaCommonTurnOffFSensor(ff);
+
    REQUIRE(WhileCondition(ff, std::bind(SimulateUnloadToFINDA, _1, 10, 1000), 1100));

    REQUIRE(ff.State() == logic::UnloadToFinda::OK);
@ -77,37 +93,9 @@ TEST_CASE("unload_to_finda::no_sense_FINDA_upon_start", "[unload_to_finda]") {
 }

 TEST_CASE("unload_to_finda::unload_without_FINDA_trigger", "[unload_to_finda]") {
-    ForceReinitAllAutomata();
-    REQUIRE(EnsureActiveSlotIndex(0, mg::FilamentLoadState::AtPulley));
-
-    // we need finda ON
-    SetFINDAStateAndDebounce(true);
-    // fsensor should be ON
-    SetFSensorStateAndDebounce(true);
-    // and MMU "thinks" it has the filament loaded
-    mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InNozzle);
-
    logic::UnloadToFinda ff;
-
-    // restart the automaton - just 1 attempt
-    ff.Reset(1);
-
-    REQUIRE(ff.State() == logic::UnloadToFinda::EngagingIdler);
-
-    // it should have instructed the selector and idler to move to slot 1
-    // check if the idler and selector have the right command
-    CHECK(mm::AxisNearestTargetPos(mm::Idler) == mi::Idler::SlotPosition(0).v);
-    CHECK(mm::AxisNearestTargetPos(mm::Selector) == ms::Selector::SlotPosition(0).v);
-    CHECK(mm::axes[mm::Idler].enabled == true);
-
-    // engaging idler
-    REQUIRE(WhileCondition(
-        ff,
-        [&](uint32_t) { return !mi::idler.Engaged(); },
-        5000));
-
-    // now pulling the filament until finda triggers
-    REQUIRE(ff.State() == logic::UnloadToFinda::WaitingForFINDA);
+    UnloadToFindaCommonSetup(ff, 1);
+    UnloadToFindaCommonTurnOffFSensor(ff);

    // no changes to FINDA during unload - we'll pretend it never triggers
    // but set FSensor correctly
@ -119,96 +107,67 @@ TEST_CASE("unload_to_finda::unload_without_FINDA_trigger", "[unload_to_finda]")
 }

 TEST_CASE("unload_to_finda::unload_without_FSensor_trigger", "[unload_to_finda]") {
-    ForceReinitAllAutomata();
-    REQUIRE(EnsureActiveSlotIndex(0, mg::FilamentLoadState::AtPulley));
-
-    // we need finda ON
-    SetFINDAStateAndDebounce(true);
-    // fsensor should be ON
-    SetFSensorStateAndDebounce(true);
-    // and MMU "thinks" it has the filament loaded
-    mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InNozzle);
-
    logic::UnloadToFinda ff;
-
-    // restart the automaton - just 1 attempt
-    ff.Reset(1);
-
-    REQUIRE(ff.State() == logic::UnloadToFinda::EngagingIdler);
-
-    // it should have instructed the selector and idler to move to slot 1
-    // check if the idler and selector have the right command
-    CHECK(mm::AxisNearestTargetPos(mm::Idler) == mi::Idler::SlotPosition(0).v);
-    CHECK(mm::AxisNearestTargetPos(mm::Selector) == ms::Selector::SlotPosition(0).v);
-    CHECK(mm::axes[mm::Idler].enabled == true);
-
-    // engaging idler
-    REQUIRE(WhileCondition(
-        ff,
-        [&](uint32_t) { return !mi::idler.Engaged(); },
-        5000));
-
-    // now pulling the filament until finda triggers
-    REQUIRE(ff.State() == logic::UnloadToFinda::WaitingForFINDA);
+    UnloadToFindaCommonSetup(ff, 1);

    // no changes to FSensor during unload - we'll pretend it never triggers
-    // but set FINDA correctly
-    REQUIRE(WhileCondition(ff, std::bind(SimulateUnloadToFINDA, _1, 150000, 10000), 50000));
+    // time-out in 4 seconds
+    mt::IncMillis(4000);

+    main_loop();
+    ff.Step();
+
+    // no pulling actually starts, because the fsensor didn't turn off and the time-out elapsed
    REQUIRE(ff.State() == logic::UnloadToFinda::FailedFSensor);
-    REQUIRE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::InSelector);
+    REQUIRE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::InNozzle);
 }

 TEST_CASE("unload_to_finda::unload_repeated", "[unload_to_finda]") {
-    ForceReinitAllAutomata();
-    REQUIRE(EnsureActiveSlotIndex(0, mg::FilamentLoadState::AtPulley));
-
-    // we need finda ON
-    SetFINDAStateAndDebounce(true);
-    // fsensor should be ON
-    SetFSensorStateAndDebounce(true);
-    // and MMU "thinks" it has the filament loaded
-    mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InNozzle);
-
    logic::UnloadToFinda ff;
+    UnloadToFindaCommonSetup(ff, 2);

-    // restart the automaton - 2 attempts
-    ff.Reset(2);
+    UnloadToFindaCommonTurnOffFSensor(ff);

-    REQUIRE(ff.State() == logic::UnloadToFinda::EngagingIdler);
-
-    // it should have instructed the selector and idler to move to slot 1
-    // check if the idler and selector have the right command
-    CHECK(mm::AxisNearestTargetPos(mm::Idler) == mi::Idler::SlotPosition(0).v);
-    CHECK(mm::AxisNearestTargetPos(mm::Selector) == ms::Selector::SlotPosition(0).v);
-    CHECK(mm::axes[mm::Idler].enabled == true);
-
-    // engaging idler
-    REQUIRE(WhileCondition(
-        ff,
-        [&](uint32_t) { return !mi::idler.Engaged(); },
-        5000));
-
-    // now pulling the filament until finda triggers
-    REQUIRE(ff.State() == logic::UnloadToFinda::WaitingForFINDA);
+    // remember raw Pulley pos for tweaking the steps below
+    // because a 20mm (config::fsensorToNozzleAvoidGrindUnload)
+    // move is being executed while the Idler is fully engaging
+    // It is roughly -90 steps
+    // int32_t pulleySteppedAlready = mm::axes[config::Pulley].pos;

    // no changes to FINDA during unload - we'll pretend it never triggers
    // but set FSensor correctly
    // In this case it is vital to correctly compute the amount of steps
    // to make the unload state machine restart after the 1st attempt
-    uint32_t unlSteps = 1 + mm::unitToSteps<mm::P_pos_t>(config::maximumBowdenLength + config::feedToFinda + config::filamentMinLoadedToMMU);
+    // The number of steps must be more than what the state machine expects for FINDA to trigger.
+    uint32_t unlSteps = 1 + mm::unitToSteps<mm::P_pos_t>(
+                            // standard fast move distance
+                            config::maximumBowdenLength + config::feedToFinda + config::filamentMinLoadedToMMU
+                            // slow start move distance
+                            + config::fsensorToNozzleAvoidGrindUnload);
+    // compensation
+    // + pulleySteppedAlready;
    REQUIRE_FALSE(WhileCondition(ff, std::bind(SimulateUnloadToFINDA, _1, 10, 150000), unlSteps));

    main_loop();
    ff.Step();

+    REQUIRE_FALSE(mi::idler.HomingValid());
    REQUIRE(ff.State() == logic::UnloadToFinda::EngagingIdler);
    REQUIRE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::InSelector);

+    HomeIdler();
+
+    main_loop();
+    ff.Step();
+    REQUIRE(ff.State() == logic::UnloadToFinda::UnloadingToFinda);
+
+    SimulateEngageIdlerPartially(ff);
+
    main_loop();
    ff.Step();

-    REQUIRE(ff.State() == logic::UnloadToFinda::UnloadingToFinda);
+    SimulateEngageIdlerFully(ff);
+
    REQUIRE(mg::globals.FilamentLoaded() == mg::FilamentLoadState::InSelector);

    // make arbitrary amount of steps
--- a/tests/unit/modules/leds/CMakeLists.txt
+++ b/tests/unit/modules/leds/CMakeLists.txt
@ -1,7 +1,13 @@
 # define the test executable
 add_executable(
-  leds_tests ${CMAKE_SOURCE_DIR}/src/modules/leds.cpp ${MODULES_STUBS_DIR}/stub_shr16.cpp
-             ${MODULES_STUBS_DIR}/stub_timebase.cpp test_leds.cpp
+  leds_tests
+  ${CMAKE_SOURCE_DIR}/src/modules/leds.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/globals.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/permanent_storage.cpp
+  ${MODULES_STUBS_DIR}/stub_shr16.cpp
+  ${MODULES_STUBS_DIR}/stub_timebase.cpp
+  ${MODULES_STUBS_DIR}/stub_eeprom.cpp
+  test_leds.cpp
  )

 # define required search paths
--- a/utils/bootstrap.py
+++ b/utils/bootstrap.py
@ -19,6 +19,7 @@ import tarfile
 import zipfile
 from argparse import ArgumentParser
 from pathlib import Path
+from tarfile import TarFile
 from urllib.request import urlretrieve
 project_root_dir = Path(__file__).resolve().parent.parent
 dependencies_dir = project_root_dir / '.dependencies'
@ -28,11 +29,11 @@ dependencies_dir = project_root_dir / '.dependencies'
 # yapf: disable
 dependencies = {
    'ninja': {
-        'version': '1.10.2',
+        'version': '1.12.1',
        'url': {
-            'Linux': 'https://github.com/ninja-build/ninja/releases/download/v1.10.2/ninja-linux.zip',
-            'Windows': 'https://github.com/ninja-build/ninja/releases/download/v1.10.2/ninja-win.zip',
-            'Darwin': 'https://github.com/ninja-build/ninja/releases/download/v1.10.2/ninja-mac.zip',
+            'Linux': 'https://github.com/ninja-build/ninja/releases/download/v1.12.1/ninja-linux.zip',
+            'Windows': 'https://github.com/ninja-build/ninja/releases/download/v1.12.1/ninja-win.zip',
+            'Darwin': 'https://github.com/ninja-build/ninja/releases/download/v1.12.1/ninja-mac.zip',
        },
    },
    'cmake': {
@ -99,7 +100,11 @@ def download_and_unzip(url: str, directory: Path):
        obj = tarfile.open(f)
    else:
        obj = zipfile.ZipFile(f, 'r')
-    obj.extractall(path=str(extract_dir))
+
+    if isinstance(obj, TarFile):
+        obj.extractall(path=str(extract_dir), filter='data')
+    else: # Zip file
+        obj.extractall(path=str(extract_dir))

    subdir = find_single_subdir(extract_dir)
    shutil.move(str(subdir), str(directory))
--- a/utils/gcovr.py
+++ b/utils/gcovr.py
@ -619,6 +619,10 @@ def process_gcov_data(data_fname, covdata, source_fname, options):
        is_code_statement = False
        if tmp[0] == '-' or (excluding and tmp[0] in "#=0123456789"):
            is_code_statement = True
+            if len(segments) < 3:
+                noncode.add(lineno)
+                continue
+                
            code = segments[2].strip()
            # remember certain non-executed lines
            if excluding or is_non_code(segments[2]):
@ -634,7 +638,7 @@ def process_gcov_data(data_fname, covdata, source_fname, options):
            uncovered_exceptional.add(lineno)
        elif tmp[0] in "0123456789":
            is_code_statement = True
-            covered[lineno] = int(segments[0].strip())
+            covered[lineno] = int(segments[0].strip().rstrip('*'))
        elif tmp.startswith('branch'):
            exclude_branch = False
            if options.exclude_unreachable_branches and \
--- a/utils/holly/Jenkinsfile
+++ b/utils/holly/Jenkinsfile
@ -93,11 +93,11 @@ pipeline {
            steps {
                sh """
                python3 utils/bootstrap.py
-                export PATH=\$PWD/.dependencies/cmake-3.22.5/bin:\$PWD/.dependencies/ninja-1.10.2:\$PATH
+                export PATH=\$PWD/.dependencies/cmake-3.22.5/bin:\$PWD/.dependencies/ninja-1.12.1:\$PATH
                export CTEST_OUTPUT_ON_FAILURE=1
                mkdir -p build-test
                LD_LIBRARY_PATH=/usr/local/lib32 \$PWD/.dependencies/cmake-3.22.5/bin/ctest --build-and-test . build-test \
-                    -DCMAKE_MAKE_PROGRAM=\$PWD/.dependencies/ninja-1.10.2/ninja \
+                    -DCMAKE_MAKE_PROGRAM=\$PWD/.dependencies/ninja-1.12.1/ninja \
                    --build-generator Ninja \
                    --build-target tests \
                    --test-command ctest
--- a/version.cmake
+++ b/version.cmake
@ -10,6 +10,6 @@ set(PROJECT_VERSION_MINOR
    CACHE STRING "Project minor version" FORCE
    )
 set(PROJECT_VERSION_REV
-    1
+    4
    CACHE STRING "Project revision" FORCE
    )
Author	SHA1	Message	Date
D.R.racer	48d4d920be	ToolChange: update unit tests	2025-12-01 10:48:28 +01:00
D.R.racer	b2dd038814	LEDs: unify common app-logic behavior into functions In the entire code base, we basically use 4 LED scenarios: - all off - active slot green on - active slot green blinking - active slot red blinking Compacting this behaviour into 4 functions saves in total ~140B - which is huge. It's not an entirely clean solution, LEDs should not know anything about globals::ActiveSlot, but the savings are more important. Ideally, such an optimization could have been done by the compiler.	2025-12-01 10:48:28 +01:00
D.R.racer	3aed994b9c	UnloadFilament: update unit tests + LED signalization	2025-12-01 10:48:28 +01:00
D.R.racer	e089be4ff8	UnloadToFinda: update unit tests	2025-12-01 10:48:28 +01:00
D.R.racer	9e3b300b2e	Slow unload move at the start of pulling	2025-12-01 10:48:28 +01:00
D.R.racer	9c23658445	Remove RegisterFlags	2025-12-01 10:48:28 +01:00
D.R.racer	3d32c300a3	UnloadToFinda: prepare Idler and once fsensor turns off, stall pulling Beware: behaviour breaking change, from now on non-reworked MK4 and MK3 cannot work with the MMU because there is no way to turn off their fsensor and trigger the unload. Hence the version bump to 3.0.4 But, on MMU-reworked MK4 and C1 this saves 2s per toolchange	2025-12-01 10:48:28 +01:00
D.R.racer	f4388b8d20	ToolChange: don't disengage Idler after unload, but engage next slot immediately	2025-12-01 10:48:28 +01:00
D.R.racer	5d8fa524fb	Registers: drop support for direct R/W memory. Use R/W functions instead. Saves 56B	2025-12-01 10:48:28 +01:00
D.R.racer	42cb40eeb9	Obey PulleySlowFeedrate in all operations	2025-12-01 10:48:28 +01:00
D.R.racer	06f41bf1e6	Idea: EngageIntermediate before unload and wait for signal	2025-12-01 10:48:28 +01:00
Guðni Már Gilbert	b6bdd55def	pulley: HomeBack state is never used Also remove unused FinishHomingAndPlanMoveToParkPos.	2025-12-01 08:52:47 +01:00
Guðni Már Gilbert	c1aa190d05	optimise GPIO read/write Instead of performing a bitwise shift operation on every GPIO read/write. Do it at compile-time and use bit mask instead. The pin number itself is not used anywhere. The change saves 108 bytes of flash memory	2025-12-01 08:52:24 +01:00
3d-gussner	88a241c741	Merge pull request #354 from 3d-gussner/workflow_Ubuntu_2204 Force workflows to Ubuntu 22.04	2025-11-24 14:45:41 +01:00
3d-gussner	7a250c24db	Force 22.04	2025-11-24 14:32:06 +01:00
Guðni Már Gilbert	39b24f8b43	PFW-1480 Process the Mode command	2025-11-05 14:50:26 +01:00
Guðni Már Gilbert	22a8f1df57	main: reduce duplicate code Change in memory: Flash: -36 bytes SRAM: 0 bytes	2025-10-30 07:51:30 +01:00
Alex Voinea	ceda1cce08	Optimize LUFA config for size	2025-10-30 07:45:38 +01:00
Alex Voinea	5e50516fe7	Use single banks for CDC	2025-10-30 07:45:38 +01:00
Alex Voinea	454619bfd4	USB manual PLL control	2025-10-30 07:45:38 +01:00
Guðni Már Gilbert	f240bb24d1	idler: adjust distance threshold Before, the axis limits had an error of 25° so 225° would actually be measured as 250°. Now after fixing axisUnitToTruncatedUnit to return a more accurate value, the new values are lower. Adjust the distances by 20° to offset previous error.	2025-10-30 07:43:35 +01:00
Guðni Már Gilbert	b00ac883c4	tests: homing: improve SimulateIdlerHoming Add handling for HomingFailed which can cause the tests to timeout. Add checks for HomeForward and HomeBack	2025-10-30 07:43:35 +01:00
Guðni Már Gilbert	9e44c06f1e	tests: homing: cleanup SimulateFailedHomeFirstTime We never home Idler and Selector at the same time. I think we did early perhaps, but now the selector always waits for the idler homing to be valid.	2025-10-30 07:43:35 +01:00
Guðni Már Gilbert	e9889ec066	tests: load_filament: idler homing is not invalidated The idler is only put on hold, and resumed after a user event is seen. We must ensure the idler is engaged before feeding to FINDA.	2025-10-30 07:43:35 +01:00
Guðni Már Gilbert	4e4e2df739	Improve accuracy in axisUnitToTruncatedUnit When converting 800mm/s2, it would be truncated to 795mm/s2 for the pulley. This is due to cutting out significant decimal digits. Instead let's multiply in floating point, this needs quite a bit of resources. So to optimise against this, multiply with the recoprical. Then the cost is not more than 20 bytes. Testing: M707 A0x0e; Read Pulley Acceleration (default at boot up is 800mm/s2) M708 A0x0e X790 ; Set Pulley Acceleration to 790mm/s2 M707 A0x0e; Read Pulley Acceleration (should be 790mm/s2) The results before this commit: M707 A0x0e -> returns 805 M708 A0x0e X790 ; Set Pulley Acceleration to 790mm/s2 M707 A0x0e; returns 795 After this commit: M707 A0x0e -> returns 799 M708 A0x0e X790 ; Set Pulley Acceleration to 790mm/s2 M707 A0x0e; returns 789 NOTE: axisUnitToTruncatedUnit is used in Idler homing, selector homing, and pulley positioning. I am not sure yet how this improvement will affect those areas.	2025-10-30 07:43:35 +01:00
Guðni Már Gilbert	b8ed9abc7f	registers: fix unit of acceleration values When reading or setting the value, the driver is expecting steps_t which is a axis scaled value. This increases the memory footprint quite a bit. But now if you set 800mm/s2, you should get a similar value back. Flash: +132 bytes SRAM: 0 bytes	2025-10-30 07:43:35 +01:00
gudnimg	e28ab28824	registers: support writing axis acceleration value The read operation now returns the actual used value instead of the maximum allowed acceleration value. Change in memory: Flash: + 78 bytes SRAM: 0 bytes	2025-10-30 07:43:35 +01:00
3d-gussner	255dc8726a	Merge pull request #349 from 3d-gussner/MMU_fix_actions Update actions to v4 as some older are deprecated	2025-02-14 09:08:45 +01:00
3d-gussner	b23d6827a7	Update actions to v4 as some older are deprecated	2025-02-14 06:16:22 +01:00
Guðni Már Gilbert	dc68b70cff	idler: reduce duplicate code Change in memory: Flash: 54 bytes SRAM: 0 bytes	2025-01-02 11:30:35 +01:00
Guðni Már Gilbert	0eeef4cafd	registers: remove obsolete comment The registers were moved into program memory in FW 3.0.1 See for reference the relevant pull request: https://github.com/prusa3d/Prusa-Firmware-MMU/pull/287	2024-12-25 10:25:00 +00:00
Guðni Már Gilbert	4ab07d627a	optimisation: compare uint16_t against uint16_t AxisDistance returns uint16_t type and is currently compared with long double axis length. The axis lengths fit easily into uint16_t: selectorLimits.lenght = 75 idlerLimits.lenght = 225 Change in memory: Flash: -122 bytes SRAM: 0 bytes	2024-12-24 13:44:55 +00:00
Guðni Már Gilbert	0a205e41ff	optimisation: set enum types explictly to uint8_t This commit produces the same savings as the compiler options -fshort-enums. Except by setting the types manually we save also 2 bytes of SRAM. By default, the enum type is 2 bytes, with we can explictly set it to one byte when applicable to reduce code size. Almost all the savings from from 'enum Mode' in leds.h. Change in memory: Flash: -116 bytes SRAM: -2 bytes	2024-12-24 13:39:41 +00:00
3d-gussner	3c8663d900	Merge pull request #324 from gudnimg/upgrade-ninja-mmu Upgrade ninja from 1.10.2 to 1.12.1	2024-12-24 06:31:48 +01:00
gudnimg	195aad9cf0	tests: fix -Wparentheses in Github CI warning: suggest parentheses around comparison in operand of ‘==’ [-Wparentheses]	2024-12-24 00:14:59 +00:00
Guðni Már Gilbert	e7abc6a7d8	Upgrade ninja from 1.10.2 to 1.12.1 The update brings better support for Windows :) Changelogs: * https://github.com/ninja-build/ninja/releases/tag/v1.12.1 * https://github.com/ninja-build/ninja/releases/tag/v1.12.0 * https://github.com/ninja-build/ninja/releases/tag/v1.11.1 * https://github.com/ninja-build/ninja/releases/tag/v1.11.0	2024-12-23 19:17:33 +01:00
Guðni Már Gilbert	32d5f3b4be	bootstrap: fix DeprecationWarning DeprecationWarning: Python 3.14 will, by default, filter extracted tar archives and reject files or modify their metadata. Use the filter argument to control this behavior. See: https://docs.python.org/3.12/library/tarfile.html#tarfile-extraction-filter	2024-12-23 19:17:33 +01:00
gudnimg	ca1d09ad15	CI: fix an issue with write permissions Also split the tests into a separate workflow file Note that the changes won't take effect until this is merged into main branch.	2024-12-23 17:41:49 +00:00
3d-gussner	89d3c6fc47	Change to newer upload-articatct verion v4	2024-12-23 12:15:23 +01:00
D.R.racer	75570a82ff	Bump version to 3.0.3	2024-03-29 09:00:55 +01:00
Alex Voinea	3cd341f95f	Update comment to reflect changes	2024-03-15 14:09:55 +01:00
Alex Voinea	5d0f772270	Move the version information after the ISR vectors	2024-03-15 14:09:55 +01:00
Alex Voinea	3ee1e22e9a	Make the size of the code properly include the version information	2024-03-15 14:09:55 +01:00
Alex Voinea	ef23490a49	Add version information at the end of flash	2024-03-15 14:09:55 +01:00
3d-gussner	08171415ca	Merge pull request #321 from vintagepc/main Autorelease workflow... take 3	2024-03-15 07:52:43 +01:00
VintagePC	5ed48aee0b	... apparently I'm blind?	2024-03-14 17:39:42 -04:00
3d-gussner	00fd54f7a4	Merge pull request #320 from prusa3d/vintagepc/fix-workflow-bug Update build.yml	2024-03-13 14:08:48 +01:00
3d-gussner	e14175d9cd	Merge pull request #318 from 3d-gussner/MMU__Stale_action_V9 Update stale action to v9 as Node.js 16 are deprecated.	2024-03-13 14:03:14 +01:00
vintagepc	2933737b3b	Update build.yml Fix workflow trigger issue	2024-03-11 08:33:02 -04:00
3d-gussner	878c763878	Merge pull request #317 from prusa3d/vintagepc/autopublish-releases Add automatic release publishing to GitHub Actions	2024-03-08 14:11:45 +01:00
3d-gussner	6ca0d650da	Update add-pr-comment to version v2.8.2	2024-03-08 13:13:22 +01:00
3d-gussner	df97d70d8e	Update stale action to v9 as Node.js 16 are deprecated.	2024-03-08 13:04:17 +01:00
VintagePC	8b04f7f9c7	no-op to test whitelist of action	2024-03-04 18:38:17 -05:00
VintagePC	3a28bfe887	Add automatic release publishing to GitHub Actions	2024-03-01 19:01:54 -05:00
3d-gussner	1c0c732291	Merge pull request #316 from gudnimg/update-github-actions CI: Call `sudo apt-get update` and update `cache`, `checkout` actions	2024-02-24 16:45:48 +01:00
Guðni Már Gilbert	cc5c425538	CI: update cache and checkout to v4 This syncs the github actions for the MMU project with the MK3 project	2024-02-24 15:40:46 +00:00
Guðni Már Gilbert	67e3a3c06c	CI: Add sudo apt-get update See: https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/customizing-github-hosted-runners#installing-software-on-ubuntu-runners > Note: Always run sudo apt-get update before installing a package. In case the apt index is stale, this command fetches and re-indexes any available packages, which helps prevent package installation failures.	2024-02-24 15:38:34 +00:00
Daniel Čejchan	d510e1e482	Add RawProgressCode & ProgressCode::_cnt	2024-01-03 14:25:29 +01:00
D.R.racer	58577b832d	Bump version to 3.0.2	2023-11-03 14:19:27 +01:00
D.R.racer	19a0cd3ebb	Add cutLength register (0x23)	2023-11-03 14:19:27 +01:00
3d-gussner	ce0df08b89	Merge pull request #307 from 3d-gussner/MMU_new_filenames BFW-3317: New filenames for hex files	2023-10-04 10:02:41 +02:00
3d-gussner	d68ccd6552	New naming for builds	2023-10-03 08:54:32 +02:00
3d-gussner	f019de539b	Merge pull request #306 from 3d-gussner/MMU_fix_cmake_zip Fix cmake	2023-10-03 08:52:17 +02:00
3d-gussner	4845d0b335	Merge pull request #310 from 3d-gussner/Main_PR-SIZE Update PR size to show	2023-10-03 08:51:57 +02:00
3d-gussner	6b96f983c0	Merge pull request #311 from prusa3d/vintagepc/fix-output-path Update CMakeLists.txt	2023-10-03 08:51:37 +02:00
vintagepc	8d6e4d1be5	Update CMakeLists.txt Fix output path of Summary.txt	2023-10-02 16:45:05 -04:00
3d-gussner	a5ca4612d2	Update pr-size to show more information	2023-10-02 20:32:10 +02:00
3d-gussner	fb65f4e563	Update ProjectVersion.cmake	2023-09-22 14:19:00 +02:00
3d-gussner	09bacabb05	Fix cmake When downloaded as zip the build failed before.	2023-09-18 14:51:05 +02:00
3d-gussner	a7286de016	Merge pull request #304 from prusa3d/vintagepc/build-with-actions Add Actions firmware build	2023-09-18 14:47:51 +02:00
vintagepc	b0eac8f523	Refine triggers	2023-09-18 07:45:11 -04:00
vintagepc	dda3899156	Adjust CTest timeout	2023-09-18 07:29:40 -04:00
gudnimg	03b0d6f776	eject filament: remove two unused constants No change in memory	2023-09-18 07:34:46 +02:00
Guðni Már Gilbert	18a040c278	cut filament: remove two unused constants	2023-09-18 07:34:46 +02:00
VintagePC	8073ce66fb	Post comment anyway	2023-09-17 19:45:24 -04:00
VintagePC	515b93e9e7	Patch gcovr script - take 3	2023-09-17 19:39:03 -04:00
VintagePC	c60d562c8c	Patch gcovr script - take 2	2023-09-17 19:05:34 -04:00
VintagePC	6340421f51	Patch gcovr script	2023-09-17 19:00:07 -04:00
VintagePC	1d1d2f23ec	fix message-id	2023-09-17 18:48:11 -04:00
VintagePC	fe354a1f51	- allow report upload on error - fix coverage paths	2023-09-17 18:30:50 -04:00
VintagePC	4e9ad80384	add lcov to packages	2023-09-17 18:18:45 -04:00
VintagePC	fbb00f38d3	- Add tests to cmake run - Share .dependencies cache with pr-size	2023-09-17 18:15:07 -04:00
vintagepc	1f66a8b908	Add Actions firmware build	2023-09-16 20:55:01 -04:00
3d-gussner	e2f396e2a2	Merge pull request #299 from 3d-gussner/MMU_Add_actions_size_and_stale Add pr-size and stale actions.	2023-09-14 13:22:35 +02:00
3d-gussner	2e02eccd91	Merge pull request #300 from prusa3d/vintagepc/more-issue-links Add links to printer FW repos for reporting actual bugs or issues.	2023-09-14 13:22:19 +02:00
vintagepc	f6a943812f	Update config.yml	2023-09-14 07:16:24 -04:00
3d-gussner	d68efb994e	Add pr-size and stale actions.	2023-09-14 12:39:36 +02:00
3d-gussner	90c1601159	Merge pull request #298 from 3d-gussner/MMU_ISSUE_TEMPLATE_to_Discussions Redirect Question template over to GH discussions	2023-09-14 12:19:20 +02:00
3d-gussner	063130726a	Redirect Question template over to GH discussions	2023-09-14 11:51:05 +02:00
3d-gussner	3f4658dd56	Remove private and use Unit	2023-09-14 11:21:04 +02:00
D.R.racer	3924cb3d4f	Update trademarks wording	2023-09-14 08:55:33 +02:00