etc

comment
Optomize G425 to compute Primary Axis before probing remainders
2024-09-10 03:13:43 -05:00 · 2024-09-10 03:11:53 -05:00 · 2024-08-29 16:36:27 -04:00 · 2024-08-28 20:41:12 -05:00 · 2024-08-29 00:25:00 +00:00 · 2024-08-28 15:46:53 -05:00
364 changed files with 16743 additions and 4310 deletions
@@ -7,7 +7,7 @@ contact_links:
    url: https://www.facebook.com/groups/1049718498464482
    about: Please ask and answer questions here.
  - name: 🕹 Marlin on Discord
-    url: https://discord.gg/n5NJ59y
+    url: https://discord.com/servers/marlin-firmware-461605380783472640
    about: Join the Discord server for support and discussion.
  - name: 🔗 Marlin Discussion Forum
    url: https://reprap.org/forum/list.php?415
@@ -43,7 +43,7 @@ We have a Message Board and a Facebook group where our knowledgable user communi

 If chat is more your speed, you can join the MarlinFirmware Discord server:

-* Use the link https://discord.gg/n5NJ59y to join up as a General User.
+* Use the link https://discord.com/servers/marlin-firmware-461605380783472640 to join up as a General User.
 * Even though our Discord is pretty active, it may take a while for community members to respond &mdash; please be patient!
 * Use the `#general` channel for general questions or discussion about Marlin.
 * Other channels exist for certain topics or are limited to Patrons. Check the channel list.
@@ -43,6 +43,7 @@ jobs:

        # Native
        - linux_native
+        - simulator_linux_release

        # AVR
        - mega2560
@@ -105,9 +106,9 @@ jobs:

        # STM32F4
        - ARMED
-        - BIGTREE_BTT002
-        - BIGTREE_GTR_V1_0
-        - BIGTREE_SKR_PRO
+        - BTT_BTT002
+        - BTT_GTR_V1_0
+        - BTT_SKR_PRO
        - FLYF407ZG
        - FYSETC_S6
        - LERDGEK
@@ -182,6 +183,13 @@ jobs:
        pio upgrade --dev
        pio pkg update --global

+    - name: Install Simulator dependencies
+      run: |
+        sudo apt-get install build-essential
+        sudo apt-get install libsdl2-dev
+        sudo apt-get install libsdl2-net-dev
+        sudo apt-get install libglm-dev
+
    - name: Run ${{ matrix.test-platform }} Tests
      run: |
        make tests-single-ci TEST_TARGET=${{ matrix.test-platform }}
@@ -0,0 +1,27 @@
+#
+# update-base-configs.yml
+# Generate new base config files if needed
+#
+
+name: Update Base Configs
+
+on:
+  schedule:
+    - cron: '0 */6 * * *'
+
+jobs:
+  bump_date:
+    name: Update Base Configs
+    if: github.repository == 'MarlinFirmware/Marlin'
+
+    runs-on: ubuntu-latest
+
+    steps:
+
+    - name: Checkout bugfix-2.1.x
+      uses: actions/checkout@v4
+      with:
+        ref: bugfix-2.1.x
+
+    - name: Update Base Configs
+      run: make base-configs
@@ -125,6 +125,7 @@ vc-fileutils.settings
 # Visual Studio Code
 .vscode/*
 !.vscode/extensions.json
+*.code-workspace

 # Simulation files
 imgui.ini
@@ -9,6 +9,7 @@ help:
 	@echo "make marlin                    : Build marlin for the configured board"
 	@echo "make format-pins -j            : Reformat all pins files (-j for parallel execution)"
 	@echo "make validate-pins -j          : Validate all pins files, fails if any require reformatting"
+	@echo "make base-configs              : Regenerate the base configs in Marlin/src/inc"
 	@echo "make tests-single-ci           : Run a single test from inside the CI"
 	@echo "make tests-single-local        : Run a single test locally"
 	@echo "make tests-single-local-docker : Run a single test locally, using docker"
@@ -102,3 +103,9 @@ format-pins: $(PINS)
 validate-pins: format-pins
 	@echo "Validating pins files"
 	@git diff --exit-code || (git status && echo "\nError: Pins files are not formatted correctly. Run \"make format-pins\" to fix.\n" && exit 1)
+
+base-configs:
+	@echo "Generating base configs"
+	@python $(SCRIPTS_DIR)/makeBaseConfigs.py 2>/dev/null \
+	  && git add Marlin/src/inc/BaseConfiguration.h Marlin/src/inc/BaseConfiguration_adv.h \
+	  && git commit -m "[cron] Update Base Configurations"
@@ -50,7 +50,7 @@
 *
 * Calibration Guides:  https://reprap.org/wiki/Calibration
 *                      https://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
- *                      https://web.archive.org/web/20220907014303/https://sites.google.com/site/repraplogphase/calibration-of-your-reprap
+ *                      https://web.archive.org/web/20220907014303/sites.google.com/site/repraplogphase/calibration-of-your-reprap
 *                      https://youtu.be/wAL9d7FgInk
 *                      https://teachingtechyt.github.io/calibration.html
 *
@@ -77,7 +77,7 @@
 * Serial port -1 is the USB emulated serial port, if available.
 * Note: The first serial port (-1 or 0) will always be used by the Arduino bootloader.
 *
- * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * :[-1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
 */
 #define SERIAL_PORT 0

@@ -99,22 +99,22 @@
 /**
 * Select a secondary serial port on the board to use for communication with the host.
 * Currently Ethernet (-2) is only supported on Teensy 4.1 boards.
- * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
 */
 //#define SERIAL_PORT_2 -1
 //#define BAUDRATE_2 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE

 /**
 * Select a third serial port on the board to use for communication with the host.
- * Currently only supported for AVR, DUE, LPC1768/9 and STM32/STM32F1
- * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * Currently supported for AVR, DUE, SAMD51, LPC1768/9, STM32/STM32F1/HC32, and Teensy 4.x
+ * :[-1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
 */
 //#define SERIAL_PORT_3 1
 //#define BAUDRATE_3 250000   // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE

 /**
 * Select a serial port to communicate with RS485 protocol
- * :[-1, 0, 1, 2, 3, 4, 5, 6, 7]
+ * :[-1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
 */
 //#define RS485_SERIAL_PORT 1
 #ifdef RS485_SERIAL_PORT
@@ -385,14 +385,15 @@
 *   PRUSA_MMU1           : Průša MMU1 (The "multiplexer" version)
 *   PRUSA_MMU2           : Průša MMU2
 *   PRUSA_MMU2S          : Průša MMU2S (Requires MK3S extruder with motion sensor, EXTRUDERS = 5)
+ *   PRUSA_MMU3           : Průša MMU3  (Requires MK3S extruder with motion sensor and MMU firmware version 3.x.x, EXTRUDERS = 5)
 *   EXTENDABLE_EMU_MMU2  : MMU with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware)
 *   EXTENDABLE_EMU_MMU2S : MMUS with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware)
 *
 * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
 * See additional options in Configuration_adv.h.
- * :["PRUSA_MMU1", "PRUSA_MMU2", "PRUSA_MMU2S", "EXTENDABLE_EMU_MMU2", "EXTENDABLE_EMU_MMU2S"]
+ * :["PRUSA_MMU1", "PRUSA_MMU2", "PRUSA_MMU2S", "PRUSA_MMU3", "EXTENDABLE_EMU_MMU2", "EXTENDABLE_EMU_MMU2S"]
 */
-//#define MMU_MODEL PRUSA_MMU2
+//#define MMU_MODEL PRUSA_MMU3

 // @section psu control

@@ -713,10 +714,13 @@
 * Use a physical model of the hotend to control temperature. When configured correctly this gives
 * better responsiveness and stability than PID and removes the need for PID_EXTRUSION_SCALING
 * and PID_FAN_SCALING. Enable MPC_AUTOTUNE and use M306 T to autotune the model.
- * @section mpctemp
+ * @section mpc temp
 */
 #if ENABLED(MPCTEMP)
  #define MPC_AUTOTUNE                                // Include a method to do MPC auto-tuning (~6.3K bytes of flash)
+  #if ENABLED(MPC_AUTOTUNE)
+    //#define MPC_AUTOTUNE_DEBUG                      // Enable MPC debug logging (~870 bytes of flash)
+  #endif
  //#define MPC_EDIT_MENU                             // Add MPC editing to the "Advanced Settings" menu. (~1.3K bytes of flash)
  //#define MPC_AUTOTUNE_MENU                         // Add MPC auto-tuning to the "Advanced Settings" menu. (~350 bytes of flash)

@@ -838,14 +842,16 @@
  // Lasko "MyHeat Personal Heater" (200w) modified with a Fotek SSR-10DA to control only the heating element
  // and placed inside the small Creality printer enclosure tent.
  //
-  #define DEFAULT_chamberKp 37.04
-  #define DEFAULT_chamberKi 1.40
+  #define DEFAULT_chamberKp  37.04
+  #define DEFAULT_chamberKi   1.40
  #define DEFAULT_chamberKd 655.17
  // M309 P37.04 I1.04 D655.17

  // FIND YOUR OWN: "M303 E-2 C8 S50" to run autotune on the chamber at 50 degreesC for 8 cycles.
 #endif // PIDTEMPCHAMBER

+// @section pid temp
+
 #if ANY(PIDTEMP, PIDTEMPBED, PIDTEMPCHAMBER)
  //#define PID_OPENLOOP          // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
  //#define SLOW_PWM_HEATERS      // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
@@ -1464,7 +1470,8 @@
 * A lightweight, solenoid-driven probe.
 * For information about this sensor https://github.com/bigtreetech/MicroProbe
 *
- * Also requires: PROBE_ENABLE_DISABLE
+ * Also requires PROBE_ENABLE_DISABLE
+ * With FT_MOTION requires ENDSTOP_INTERRUPTS_FEATURE
 */
 //#define BIQU_MICROPROBE_V1  // Triggers HIGH
 //#define BIQU_MICROPROBE_V2  // Triggers LOW
@@ -1634,6 +1641,7 @@
  #define PROBE_TARE_DELAY 200    // (ms) Delay after tare before
  #define PROBE_TARE_STATE HIGH   // State to write pin for tare
  //#define PROBE_TARE_PIN PA5    // Override default pin
+  //#define PROBE_TARE_MENU       // Display a menu item to tare the probe
  #if ENABLED(PROBE_ACTIVATION_SWITCH)
    //#define PROBE_TARE_ONLY_WHILE_INACTIVE  // Fail to tare/probe if PROBE_ACTIVATION_SWITCH is active
  #endif
@@ -1723,6 +1731,8 @@
  #define PROBING_BED_TEMP     50
 #endif

+// @section stepper drivers
+
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
 // :{ 0:'Low', 1:'High' }
 #define X_ENABLE_ON 0
@@ -1896,6 +1906,8 @@
 #endif

 /**
+ * @section filament runout sensors
+ *
 * Filament Runout Sensors
 * Mechanical or opto endstops are used to check for the presence of filament.
 *
@@ -2418,9 +2430,9 @@
 #define PREHEAT_2_TEMP_CHAMBER 35
 #define PREHEAT_2_FAN_SPEED     0 // Value from 0 to 255

-// @section motion
-
 /**
+ * @section nozzle park
+ *
 * Nozzle Park
 *
 * Park the nozzle at the given XYZ position on idle or G27.
@@ -2443,6 +2455,8 @@
 #endif

 /**
+ * @section nozzle clean
+ *
 * Clean Nozzle Feature
 *
 * Adds the G12 command to perform a nozzle cleaning process.
@@ -2603,9 +2617,24 @@
  //#include "Configuration_Secure.h"       // External file with PASSWORD_DEFAULT_VALUE
 #endif

-//=============================================================================
-//============================= LCD and SD support ============================
-//=============================================================================
+// @section media
+
+/**
+ * SD CARD
+ *
+ * SD Card support is disabled by default. If your controller has an SD slot,
+ * you must uncomment the following option or it won't work.
+ */
+//#define SDSUPPORT
+
+/**
+ * SD CARD: ENABLE CRC
+ *
+ * Use CRC checks and retries on the SD communication.
+ */
+#if ENABLED(SDSUPPORT)
+  //#define SD_CHECK_AND_RETRY
+#endif

 // @section interface

@@ -2652,21 +2681,6 @@
 */
 #define LCD_INFO_SCREEN_STYLE 0

-/**
- * SD CARD
- *
- * SD Card support is disabled by default. If your controller has an SD slot,
- * you must uncomment the following option or it won't work.
- */
-//#define SDSUPPORT
-
-/**
- * SD CARD: ENABLE CRC
- *
- * Use CRC checks and retries on the SD communication.
- */
-//#define SD_CHECK_AND_RETRY
-
 /**
 * LCD Menu Items
 *
@@ -2795,7 +2809,7 @@

 //
 // Original RADDS LCD Display+Encoder+SDCardReader
-// https://web.archive.org/web/20200719145306/http://doku.radds.org/dokumentation/lcd-display/
+// https://web.archive.org/web/20200719145306/doku.radds.org/dokumentation/lcd-display/
 //
 //#define RADDS_DISPLAY

@@ -2861,7 +2875,7 @@

 //
 // Elefu RA Board Control Panel
-// https://web.archive.org/web/20140823033947/http://www.elefu.com/index.php?route=product/product&product_id=53
+// https://web.archive.org/web/20140823033947/www.elefu.com/index.php?route=product/product&product_id=53
 //
 //#define RA_CONTROL_PANEL

@@ -2993,7 +3007,7 @@

 //
 // Cartesio UI
-// https://web.archive.org/web/20180605050442/http://mauk.cc/webshop/cartesio-shop/electronics/user-interface
+// https://web.archive.org/web/20180605050442/mauk.cc/webshop/cartesio-shop/electronics/user-interface
 //
 //#define CARTESIO_UI

@@ -47,8 +47,9 @@
 *  2 = config.ini - File format for PlatformIO preprocessing.
 *  3 = schema.json - The entire configuration schema. (13 = pattern groups)
 *  4 = schema.yml - The entire configuration schema.
+ *  5 = Config.h - Minimal configuration by popular demand.
 */
-//#define CONFIG_EXPORT 2 // :[1:'JSON', 2:'config.ini', 3:'schema.json', 4:'schema.yml']
+//#define CONFIG_EXPORT 105 // :[1:'JSON', 2:'config.ini', 3:'schema.json', 4:'schema.yml', 5:'Config.h']

 //===========================================================================
 //============================= Thermal Settings ============================
@@ -303,9 +304,9 @@
 * If you get false positives for "Thermal Runaway", increase
 * THERMAL_PROTECTION_HYSTERESIS and/or THERMAL_PROTECTION_PERIOD
 */
-#if ENABLED(THERMAL_PROTECTION_HOTENDS)
-  #define THERMAL_PROTECTION_PERIOD 40        // (seconds)
-  #define THERMAL_PROTECTION_HYSTERESIS 4     // (°C)
+#if ALL(HAS_HOTEND, THERMAL_PROTECTION_HOTENDS)
+  #define THERMAL_PROTECTION_PERIOD        40 // (seconds)
+  #define THERMAL_PROTECTION_HYSTERESIS     4 // (°C)

  //#define ADAPTIVE_FAN_SLOWING              // Slow down the part-cooling fan if the temperature drops
  #if ENABLED(ADAPTIVE_FAN_SLOWING)
@@ -334,7 +335,7 @@
 /**
 * Thermal Protection parameters for the bed are just as above for hotends.
 */
-#if ENABLED(THERMAL_PROTECTION_BED)
+#if TEMP_SENSOR_BED && ENABLED(THERMAL_PROTECTION_BED)
  #define THERMAL_PROTECTION_BED_PERIOD        20 // (seconds)
  #define THERMAL_PROTECTION_BED_HYSTERESIS     2 // (°C)

@@ -348,7 +349,7 @@
 /**
 * Thermal Protection parameters for the heated chamber.
 */
-#if ENABLED(THERMAL_PROTECTION_CHAMBER)
+#if TEMP_SENSOR_CHAMBER && ENABLED(THERMAL_PROTECTION_CHAMBER)
  #define THERMAL_PROTECTION_CHAMBER_PERIOD    20 // (seconds)
  #define THERMAL_PROTECTION_CHAMBER_HYSTERESIS 2 // (°C)

@@ -362,7 +363,7 @@
 /**
 * Thermal Protection parameters for the laser cooler.
 */
-#if ENABLED(THERMAL_PROTECTION_COOLER)
+#if TEMP_SENSOR_COOLER && ENABLED(THERMAL_PROTECTION_COOLER)
  #define THERMAL_PROTECTION_COOLER_PERIOD     10 // (seconds)
  #define THERMAL_PROTECTION_COOLER_HYSTERESIS  3 // (°C)

@@ -1118,15 +1119,18 @@
 /**
 * Fixed-time-based Motion Control -- EXPERIMENTAL
 * Enable/disable and set parameters with G-code M493.
+ * See ft_types.h for named values used by FTM options.
 */
 //#define FT_MOTION
 #if ENABLED(FT_MOTION)
-  #define FTM_DEFAULT_MODE        ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
-  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
-  #define FTM_SHAPING_DEFAULT_X_FREQ   37.0f      // (Hz) Default peak frequency used by input shapers
-  #define FTM_SHAPING_DEFAULT_Y_FREQ   37.0f      // (Hz) Default peak frequency used by input shapers
+  //#define FTM_IS_DEFAULT_MOTION                 // Use FT Motion as the factory default?
+  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
+  #define FTM_DEFAULT_SHAPER_X      ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
+  #define FTM_DEFAULT_SHAPER_Y      ftMotionShaper_NONE // Default shaper mode on Y axis
+  #define FTM_SHAPING_DEFAULT_FREQ_X   37.0f      // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_DEFAULT_FREQ_Y   37.0f      // (Hz) Default peak frequency used by input shapers
  #define FTM_LINEAR_ADV_DEFAULT_ENA   false      // Default linear advance enable (true) or disable (false)
-  #define FTM_LINEAR_ADV_DEFAULT_K      0.0f      // Default linear advance gain
+  #define FTM_LINEAR_ADV_DEFAULT_K      0         // Default linear advance gain, integer value. (Acceleration-based scaling factor.)
  #define FTM_SHAPING_ZETA_X            0.1f      // Zeta used by input shapers for X axis
  #define FTM_SHAPING_ZETA_Y            0.1f      // Zeta used by input shapers for Y axis

@@ -1149,18 +1153,13 @@
  #define FTM_FS                     1000         // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
  #define FTM_TS                        0.001f    // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)

-  // These values may be configured to adjust the duration of loop().
-  #define FTM_STEPS_PER_LOOP           60         // Number of stepper commands to generate each loop()
-  #define FTM_POINTS_PER_LOOP         100         // Number of trajectory points to generate each loop()
-
  #if DISABLED(COREXY)
    #define FTM_STEPPER_FS          20000         // (Hz) Frequency for stepper I/O update

    // Use this to adjust the time required to consume the command buffer.
    // Try increasing this value if stepper motion is choppy.
    #define FTM_STEPPERCMD_BUFF_SIZE 3000         // Size of the stepper command buffers
-                                                  // (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
-                                                  // If you run out of memory, fall back to 3000 and increase progressively
+
  #else
    // CoreXY motion needs a larger buffer size. These values are based on our testing.
    #define FTM_STEPPER_FS          30000
@@ -1555,6 +1554,9 @@
  // BACK menu items keep the highlight at the top
  //#define TURBO_BACK_MENU_ITEM

+  // BACK menu items show "Back" instead of the previous menu name
+  //#define GENERIC_BACK_MENU_ITEM
+
  // Insert a menu for preheating at the top level to allow for quick access
  //#define PREHEAT_SHORTCUT_MENU_ITEM

@@ -2971,7 +2973,7 @@

  #if AXIS_IS_TMC_CONFIG(X)
    #define X_CURRENT       800        // (mA) RMS current. Multiply by 1.414 for peak current.
-    #define X_CURRENT_HOME  X_CURRENT  // (mA) RMS current for sensorless homing
+    #define X_CURRENT_HOME  X_CURRENT  // (mA) RMS current for homing. (Typically lower than *_CURRENT.)
    #define X_MICROSTEPS     16        // 0..256
    #define X_RSENSE          0.11
    #define X_CHAIN_POS      -1        // -1..0: Not chained. 1: MCU MOSI connected. 2: Next in chain, ...
@@ -3181,6 +3183,13 @@
    //#define E7_HOLD_MULTIPLIER 0.5
  #endif

+  /**
+   * Use the homing current for all probing. (e.g., Current may be reduced to the
+   * point where a collision makes the motor skip instead of damaging the bed,
+   * though this is unlikely to save delicate probes from being damaged.
+   */
+  //#define PROBING_USE_CURRENT_HOME
+
  // @section tmc/spi

  /**
@@ -3445,7 +3454,7 @@
  /**
   * Step on both rising and falling edge signals (as with a square wave).
   */
-  //#define EDGE_STEPPING
+  #define EDGE_STEPPING

  /**
   * Enable M122 debugging command for TMC stepper drivers.
@@ -3527,7 +3536,7 @@
  //#define PHOTOGRAPH_PIN 23

  // Canon Hack Development Kit
-  // https://web.archive.org/web/20200920094805/https://captain-slow.dk/2014/03/09/3d-printing-timelapses/
+  // https://web.archive.org/web/20200920094805/captain-slow.dk/2014/03/09/3d-printing-timelapses/
  //#define CHDK_PIN        4

  // Optional second move with delay to trigger the camera shutter
@@ -4380,44 +4389,89 @@
  //#define E_MUX0_PIN 40  // Always Required
  //#define E_MUX1_PIN 42  // Needed for 3 to 8 inputs
  //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
-#elif HAS_PRUSA_MMU2
-  // Serial port used for communication with MMU2.
+#elif HAS_PRUSA_MMU2 || HAS_PRUSA_MMU3
+  // Common settings for MMU2/MMU2S/MMU3
+  // Serial port used for communication with MMU2/MMU2S/MMU3.
  #define MMU2_SERIAL_PORT 2
+  #define MMU_BAUD 115200

  // Use hardware reset for MMU if a pin is defined for it
  //#define MMU2_RST_PIN 23

-  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
-  //#define MMU2_MODE_12V
+  #if HAS_PRUSA_MMU2
+    // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+    //#define MMU2_MODE_12V

-  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
-  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+    // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+    #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+  #endif

-  // Add an LCD menu for MMU2
-  //#define MMU2_MENUS
+  // Add an LCD menu for MMU2/MMU2S/MMU3
+  //#define MMU_MENUS

  // Settings for filament load / unload from the LCD menu.
  // This is for Průša MK3-style extruders. Customize for your hardware.
  #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+
+  /**
+   * ------------
+   * MMU2 / MMU2S
+   * ------------
+   * MMU2 sequences use mm/min. Not compatible with MMU3 (see below).
+   * #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+   *   {  4.4,  871 }, \
+   *   { 10.0, 1393 }, \
+   *   {  4.4,  871 }, \
+   *   { 10.0,  198 }
+   */
+
+  /* #define MMU2_RAMMING_SEQUENCE \
+   *   {   1.0, 1000 }, \
+   *   {   1.0, 1500 }, \
+   *   {   2.0, 2000 }, \
+   *   {   1.5, 3000 }, \
+   *   {   2.5, 4000 }, \
+   *   { -15.0, 5000 }, \
+   *   { -14.0, 1200 }, \
+   *   {  -6.0,  600 }, \
+   *   {  10.0,  700 }, \
+   *   { -10.0,  400 }, \
+   *   { -50.0, 2000 }
+   */
+
+  /**
+   * ----
+   * MMU3
+   * ----
+   * These values are compatible with MMU3 as they are defined in mm/s
+   */
+
+  #define MMU2_EXTRUDER_PTFE_LENGTH       42.3 // (mm)
+  #define MMU2_EXTRUDER_HEATBREAK_LENGTH  17.7 // (mm)
+
  #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
-    {  7.2, 1145 }, \
-    { 14.4,  871 }, \
-    { 36.0, 1393 }, \
-    { 14.4,  871 }, \
-    { 50.0,  198 }
+    { MMU2_EXTRUDER_PTFE_LENGTH,      MMM_TO_MMS(810) }, /* (13.5 mm/s) Fast load ahead of heatbreak */ \
+    { MMU2_EXTRUDER_HEATBREAK_LENGTH, MMM_TO_MMS(198) }  // ( 3.3 mm/s) Slow load after heatbreak

  #define MMU2_RAMMING_SEQUENCE \
-    {   1.0, 1000 }, \
-    {   1.0, 1500 }, \
-    {   2.0, 2000 }, \
-    {   1.5, 3000 }, \
-    {   2.5, 4000 }, \
-    { -15.0, 5000 }, \
-    { -14.0, 1200 }, \
-    {  -6.0,  600 }, \
-    {  10.0,  700 }, \
-    { -10.0,  400 }, \
-    { -50.0, 2000 }
+    { 0.2816,  MMM_TO_MMS(1339.0) }, \
+    { 0.3051,  MMM_TO_MMS(1451.0) }, \
+    { 0.3453,  MMM_TO_MMS(1642.0) }, \
+    { 0.3990,  MMM_TO_MMS(1897.0) }, \
+    { 0.4761,  MMM_TO_MMS(2264.0) }, \
+    { 0.5767,  MMM_TO_MMS(2742.0) }, \
+    { 0.5691,  MMM_TO_MMS(3220.0) }, \
+    { 0.1081,  MMM_TO_MMS(3220.0) }, \
+    { 0.7644,  MMM_TO_MMS(3635.0) }, \
+    { 0.8248,  MMM_TO_MMS(3921.0) }, \
+    { 0.8483,  MMM_TO_MMS(4033.0) }, \
+    { -15.0,   MMM_TO_MMS(6000.0) }, \
+    { -24.5,   MMM_TO_MMS(1200.0) }, \
+    {  -7.0,   MMM_TO_MMS( 600.0) }, \
+    {  -3.5,   MMM_TO_MMS( 360.0) }, \
+    {  20.0,   MMM_TO_MMS( 454.0) }, \
+    { -20.0,   MMM_TO_MMS( 303.0) }, \
+    { -35.0,   MMM_TO_MMS(2000.0) }

  /**
   * Using a sensor like the MMU2S
@@ -4427,11 +4481,26 @@
  #if HAS_PRUSA_MMU2S
    #define MMU2_C0_RETRY   5             // Number of retries (total time = timeout*retries)

+    /**
+     * This is called after the filament runout sensor is triggered to check if
+     * the filament has been loaded properly by moving the filament back and
+     * forth to see if the filament runout sensor is going to get triggered
+     * again, which should not occur if the filament is properly loaded.
+     *
+     * Thus, the MMU2_CAN_LOAD_SEQUENCE should contain some forward and
+     * backward moves. The forward moves should be greater than the backward
+     * moves.
+     *
+     * This is useless if your filament runout sensor is way behind the gears.
+     * In that case use {0, MMU2_CAN_LOAD_FEEDRATE}
+     *
+     * Adjust MMU2_CAN_LOAD_SEQUENCE according to your setup.
+     */
    #define MMU2_CAN_LOAD_FEEDRATE 800    // (mm/min)
    #define MMU2_CAN_LOAD_SEQUENCE \
-      {  0.1, MMU2_CAN_LOAD_FEEDRATE }, \
-      {  60.0, MMU2_CAN_LOAD_FEEDRATE }, \
-      { -52.0, MMU2_CAN_LOAD_FEEDRATE }
+      {   5.0, MMU2_CAN_LOAD_FEEDRATE }, \
+      {  15.0, MMU2_CAN_LOAD_FEEDRATE }, \
+      { -10.0, MMU2_CAN_LOAD_FEEDRATE }

    #define MMU2_CAN_LOAD_RETRACT   6.0   // (mm) Keep under the distance between Load Sequence values
    #define MMU2_CAN_LOAD_DEVIATION 0.8   // (mm) Acceptable deviation
@@ -4442,6 +4511,68 @@

    // Continue unloading if sensor detects filament after the initial unload move
    //#define MMU_IR_UNLOAD_MOVE
+
+  #elif HAS_PRUSA_MMU3
+
+    // MMU3 settings
+
+    #define MMU2_MAX_RETRIES 3  // Number of retries (total time = timeout*retries)
+
+    // Nominal distance from the extruder gear to the nozzle tip is 87mm
+    // However, some slipping may occur and we need separate distances for
+    // LoadToNozzle and ToolChange.
+    // - +5mm seemed good for LoadToNozzle,
+    // - but too much (made blobs) for a ToolChange
+    #define MMU2_LOAD_TO_NOZZLE_LENGTH 87.0 + 5.0
+
+    // As discussed with our PrusaSlicer profile specialist
+    // - ToolChange shall not try to push filament into the very tip of the nozzle
+    // to have some space for additional G-code to tune the extruded filament length
+    // in the profile
+    // Beware - this value is used to initialize the MMU logic layer - it will be sent to the MMU upon line up (written into its 8bit register 0x0b)
+    // However - in the G-code we can get a request to set the extra load distance at runtime to something else (M708 A0xb Xsomething).
+    // The printer intercepts such a call and sets its extra load distance to match the new value as well.
+    #define MMU2_FILAMENT_SENSOR_POSITION    0   // (mm)
+    #define MMU2_LOAD_DISTANCE_PAST_GEARS    5   // (mm)
+    #define MMU2_TOOL_CHANGE_LOAD_LENGTH MMU2_FILAMENT_SENSOR_POSITION + MMU2_LOAD_DISTANCE_PAST_GEARS // (mm)
+
+    #define MMU2_LOAD_TO_NOZZLE_FEED_RATE        20.0 // (mm/s)
+    #define MMU2_UNLOAD_TO_FINDA_FEED_RATE      120.0 // (mm/s)
+
+    #define MMU2_VERIFY_LOAD_TO_NOZZLE_FEED_RATE 50.0 // (mm/s)
+    #define MMU2_VERIFY_LOAD_TO_NOZZLE_TWEAK     -5.0 // (mm) Amount to adjust the length for verifying load-to-nozzle
+
+    // The first thing the MMU does is initialize its axis.
+    // Meanwhile the E-motor will unload 20mm of filament in about 1 second.
+    #define MMU2_RETRY_UNLOAD_TO_FINDA_LENGTH    80.0 // (mm)
+    #define MMU2_RETRY_UNLOAD_TO_FINDA_FEED_RATE 80.0 // (mm/s)
+
+    // After loading a new filament, the printer will extrude this length of filament
+    // then retract to the original position. This is used to check if the filament sensor
+    // reading flickers or filament is jammed.
+    #define MMU2_CHECK_FILAMENT_PRESENCE_EXTRUSION_LENGTH (MMU2_EXTRUDER_PTFE_LENGTH + MMU2_EXTRUDER_HEATBREAK_LENGTH + MMU2_VERIFY_LOAD_TO_NOZZLE_TWEAK + MMU2_FILAMENT_SENSOR_POSITION) // (mm)
+
+    #define MMU_HAS_CUTTER            // Enable cutter related functionalities
+    //#define MMU_FORCE_STEALTH_MODE  // Force stealth mode and disable menu item
+
+    /**
+     * SpoolJoin Consumes All Filament -- EXPERIMENTAL
+     *
+     * SpoolJoin normally triggers when FINDA sensor untriggers while printing.
+     * This is the default behaviour and it doesn't consume all the filament
+     * before triggering a filament change. This leaves some filament in the
+     * current slot and before switching to the next slot it is unloaded.
+     *
+     * Enabling this option will trigger the filament change when both FINDA
+     * and Filament Runout Sensor triggers during the print and it allows the
+     * filament in the current slot to be completely consumed before doing the
+     * filament change. But this can cause problems as a little bit of filament
+     * will be left between the extruder gears (thinking that the filament
+     * sensor is triggered through the gears) and the end of the PTFE tube and
+     * can cause filament load issues.
+     */
+    //#define MMU_SPOOL_JOIN_CONSUMES_ALL_FILAMENT
+
  #else

    /**
@@ -4464,7 +4595,7 @@

  //#define MMU2_DEBUG  // Write debug info to serial output

-#endif // HAS_PRUSA_MMU2
+#endif // HAS_PRUSA_MMU2 || HAS_PRUSA_MMU3

 /**
 * Advanced Print Counter settings
@@ -41,7 +41,7 @@
 * here we define this default string as the date where the latest release
 * version was tagged.
 */
-//#define STRING_DISTRIBUTION_DATE "2024-07-12"
+//#define STRING_DISTRIBUTION_DATE "2024-08-29"

 /**
 * Defines a generic printer name to be output to the LCD after booting Marlin.
@@ -26,7 +26,7 @@
 *
 *   Logical Pin: 28 29 30 31 32 33 34 35 20 21 22 23 24 25 26 27 10 11 12 13 14 15 16 17 00 01 02 03 04 05 06 07 08 09(46*47)36 37 18 19 38 39 40 41 42 43 44 45
 *   Port:        A0 A1 A2 A3 A4 A5 A6 A7 B0 B1 B2 B3 B4 B5 B6 B7 C0 C1 C2 C3 C4 C5 C6 C7 D0 D1 D2 D3 D4 D5 D6 D7 E0 E1 E2 E3 E4 E5 E6 E7 F0 F1 F2 F3 F4 F5 F6 F7
- *            The logical pins 46 and 47 are not supported by Teensyduino, but are supported below as E2 and E3
+ *            Logical pins 46-47 aren't supported by Teensyduino, but are supported below as E2 and E3
 */

 #include "../fastio.h"
@@ -42,7 +42,7 @@
  #define digitalPinToTimer_DEBUG(p) digitalPinToTimer(p)
  #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask(p)
  #define digitalPinToPort_DEBUG(p) digitalPinToPort(p)
-  #define GET_PINMODE(pin) (*portModeRegister(pin) & digitalPinToBitMask_DEBUG(pin))
+  #define getValidPinMode(pin) (*portModeRegister(pin) & digitalPinToBitMask_DEBUG(pin))

 #elif AVR_ATmega2560_FAMILY_PLUS_70   // So we can access/display all the pins on boards using more than 70

@@ -50,32 +50,32 @@
  #define digitalPinToTimer_DEBUG(p) digitalPinToTimer_plus_70(p)
  #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask_plus_70(p)
  #define digitalPinToPort_DEBUG(p) digitalPinToPort_plus_70(p)
-  bool GET_PINMODE(int8_t pin) {return *portModeRegister(digitalPinToPort_DEBUG(pin)) & digitalPinToBitMask_DEBUG(pin); }
+  bool getValidPinMode(pin_t pin) {return *portModeRegister(digitalPinToPort_DEBUG(pin)) & digitalPinToBitMask_DEBUG(pin); }

 #else

  #define digitalPinToTimer_DEBUG(p) digitalPinToTimer(p)
  #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask(p)
  #define digitalPinToPort_DEBUG(p) digitalPinToPort(p)
-  bool GET_PINMODE(int8_t pin) {return *portModeRegister(digitalPinToPort_DEBUG(pin)) & digitalPinToBitMask_DEBUG(pin); }
-  #define GET_ARRAY_PIN(p) pgm_read_byte(&pin_array[p].pin)
+  bool getValidPinMode(pin_t pin) {return *portModeRegister(digitalPinToPort_DEBUG(pin)) & digitalPinToBitMask_DEBUG(pin); }
+  #define getPinByIndex(p) pgm_read_byte(&pin_array[p].pin)

 #endif

-#define VALID_PIN(pin) (pin >= 0 && pin < NUM_DIGITAL_PINS ? 1 : 0)
+#define isValidPin(pin) (pin >= 0 && pin < NUM_DIGITAL_PINS ? 1 : 0)
 #if AVR_ATmega1284_FAMILY
-  #define IS_ANALOG(P) WITHIN(P, analogInputToDigitalPin(7), analogInputToDigitalPin(0))
-  #define DIGITAL_PIN_TO_ANALOG_PIN(P) int(IS_ANALOG(P) ? (P) - analogInputToDigitalPin(7) : -1)
+  #define isAnalogPin(P) WITHIN(P, analogInputToDigitalPin(7), analogInputToDigitalPin(0))
+  #define digitalPinToAnalogIndex(P) int(isAnalogPin(P) ? (P) - analogInputToDigitalPin(7) : -1)
 #else
  #define _ANALOG1(P) WITHIN(P, analogInputToDigitalPin(0), analogInputToDigitalPin(7))
  #define _ANALOG2(P) WITHIN(P, analogInputToDigitalPin(8), analogInputToDigitalPin(15))
-  #define IS_ANALOG(P) (_ANALOG1(P) || _ANALOG2(P))
-  #define DIGITAL_PIN_TO_ANALOG_PIN(P) int(_ANALOG1(P) ? (P) - analogInputToDigitalPin(0) : _ANALOG2(P) ? (P) - analogInputToDigitalPin(8) + 8 : -1)
+  #define isAnalogPin(P) (_ANALOG1(P) || _ANALOG2(P))
+  #define digitalPinToAnalogIndex(P) int(_ANALOG1(P) ? (P) - analogInputToDigitalPin(0) : _ANALOG2(P) ? (P) - analogInputToDigitalPin(8) + 8 : -1)
 #endif
-#define GET_ARRAY_PIN(p) pgm_read_byte(&pin_array[p].pin)
+#define getPinByIndex(p) pgm_read_byte(&pin_array[p].pin)
 #define MULTI_NAME_PAD 26 // space needed to be pretty if not first name assigned to a pin

-void PRINT_ARRAY_NAME(uint8_t x) {
+void printPinNameByIndex(uint8_t x) {
  PGM_P const name_mem_pointer = (PGM_P)pgm_read_ptr(&pin_array[x].name);
  for (uint8_t y = 0; y < MAX_NAME_LENGTH; ++y) {
    char temp_char = pgm_read_byte(name_mem_pointer + y);
@@ -88,7 +88,7 @@ void PRINT_ARRAY_NAME(uint8_t x) {
  }
 }

-#define GET_ARRAY_IS_DIGITAL(x)   pgm_read_byte(&pin_array[x].is_digital)
+#define getPinIsDigitalByIndex(x)   pgm_read_byte(&pin_array[x].is_digital)

 #if defined(__AVR_ATmega1284P__)  // 1284 IDE extensions set this to the number of
  #undef NUM_DIGITAL_PINS         // digital only pins while all other CPUs have it
@@ -276,7 +276,7 @@ void timer_prefix(uint8_t T, char L, uint8_t N) {  // T - timer    L - pwm  N -
  if (TEST(*TMSK, TOIE)) err_prob_interrupt();
 }

-void pwm_details(uint8_t pin) {
+void printPinPWM(uint8_t pin) {
  switch (digitalPinToTimer_DEBUG(pin)) {

    #if ABTEST(0)
@@ -347,7 +347,7 @@ void pwm_details(uint8_t pin) {
  #else
    UNUSED(print_is_also_tied);
  #endif
-} // pwm_details
+} // printPinPWM

 #ifndef digitalRead_mod                   // Use Teensyduino's version of digitalRead - it doesn't disable the PWMs
  int digitalRead_mod(const pin_t pin) {  // same as digitalRead except the PWM stop section has been removed
@@ -356,7 +356,7 @@ void pwm_details(uint8_t pin) {
  }
 #endif

-void print_port(const pin_t pin) {   // print port number
+void printPinPort(const pin_t pin) {   // print port number
  #ifdef digitalPinToPort_DEBUG
    uint8_t x;
    SERIAL_ECHOPGM("  Port: ");
@@ -386,7 +386,7 @@ void print_port(const pin_t pin) {   // print port number
  #endif
 }

-#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(pin)); SERIAL_ECHO(buffer); }while(0)

 #undef ABTEST
@@ -127,7 +127,7 @@ typedef Servo hal_servo_t;
 #define HAL_ADC_RESOLUTION  10

 #ifndef analogInputToDigitalPin
-  #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
+  #define analogInputToDigitalPin(p) pin_t((p < 12U) ? (p) + 54U : -1)
 #endif

 //
@@ -50,7 +50,7 @@
 static Flags<_Nbr_16timers> DisablePending; // ISR should disable the timer at the next timer reset

 // ------------------------
-/// Interrupt handler for the TC0 channel 1.
+// Interrupt handler for the TC0 channel 1.
 // ------------------------
 void Servo_Handler(const timer16_Sequence_t, Tc*, const uint8_t);

@@ -64,19 +64,19 @@
 #define NUMBER_PINS_TOTAL PINS_COUNT

 #define digitalRead_mod(p) extDigitalRead(p)  // AVR digitalRead disabled PWM before it read the pin
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%02d"), p); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
-#define GET_ARRAY_PIN(p) pin_array[p].pin
-#define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
-#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL))
-#define DIGITAL_PIN_TO_ANALOG_PIN(p) int(p - analogInputToDigitalPin(0))
-#define IS_ANALOG(P) WITHIN(P, char(analogInputToDigitalPin(0)), char(analogInputToDigitalPin(NUM_ANALOG_INPUTS - 1)))
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(p) do{ sprintf_P(buffer, PSTR("%02d"), p); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(pin)); SERIAL_ECHO(buffer); }while(0)
+#define getPinByIndex(p) pin_array[p].pin
+#define getPinIsDigitalByIndex(p) pin_array[p].is_digital
+#define isValidPin(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL))
+#define digitalPinToAnalogIndex(p) int(p - analogInputToDigitalPin(0))
+#define isAnalogPin(P) WITHIN(P, pin_t(analogInputToDigitalPin(0)), pin_t(analogInputToDigitalPin(NUM_ANALOG_INPUTS - 1)))
 #define pwm_status(pin) (((g_pinStatus[pin] & 0xF) == PIN_STATUS_PWM) && \
                        ((g_APinDescription[pin].ulPinAttribute & PIN_ATTR_PWM) == PIN_ATTR_PWM))
 #define MULTI_NAME_PAD 14 // space needed to be pretty if not first name assigned to a pin

-bool GET_PINMODE(int8_t pin) {  // 1: output, 0: input
+bool getValidPinMode(int8_t pin) {  // 1: output, 0: input
  volatile Pio* port = g_APinDescription[pin].pPort;
  uint32_t mask = g_APinDescription[pin].ulPin;
  uint8_t pin_status = g_pinStatus[pin] & 0xF;
@@ -85,14 +85,14 @@ bool GET_PINMODE(int8_t pin) {  // 1: output, 0: input
          || pwm_status(pin));
 }

-void pwm_details(int32_t pin) {
+void printPinPWM(int32_t pin) {
  if (pwm_status(pin)) {
    uint32_t chan = g_APinDescription[pin].ulPWMChannel;
    SERIAL_ECHOPGM("PWM = ", PWM_INTERFACE->PWM_CH_NUM[chan].PWM_CDTY);
  }
 }

-void print_port(const pin_t) {}
+void printPinPort(const pin_t) {}

 /**
 * DUE Board pin   |  PORT  | Label
@@ -152,7 +152,7 @@ void stepperTask(void *parameter) {
    xQueueReceive(dma.queue, &dma.current, portMAX_DELAY);
    dma.rw_pos = 0;

-    const bool using_ftMotion = TERN0(FT_MOTION, ftMotion.cfg.mode);
+    const bool using_ftMotion = TERN0(FT_MOTION, ftMotion.cfg.active);

    while (dma.rw_pos < DMA_SAMPLE_COUNT) {

@@ -53,12 +53,11 @@ typedef uint64_t hal_timer_t;
 #if ENABLED(I2S_STEPPER_STREAM)
  #define STEPPER_TIMER_PRESCALE     1
  #define STEPPER_TIMER_RATE         250000                           // 250khz, 4µs pulses of i2s word clock
-  #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs // wrong would be 0.25
 #else
  #define STEPPER_TIMER_PRESCALE     40
  #define STEPPER_TIMER_RATE         ((HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE)) // frequency of stepper timer, 2MHz
-  #define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)              // stepper timer ticks per µs
 #endif
+#define STEPPER_TIMER_TICKS_PER_US   ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs

 #define STEP_TIMER_MIN_INTERVAL   8 // minimum time in µs between stepper interrupts

@@ -114,22 +114,19 @@
 // Misc. Functions
 //
 #ifndef analogInputToDigitalPin
-#define analogInputToDigitalPin(p) (p)
+  #define analogInputToDigitalPin(p) pin_t(p)
 #endif

-#define CRITICAL_SECTION_START        \
-  uint32_t primask = __get_PRIMASK(); \
-  (void)__iCliRetVal()
+#define CRITICAL_SECTION_START()        \
+  const bool irqon = !__get_PRIMASK();  \
+  __disable_irq();                      \
+  __DSB();
+#define CRITICAL_SECTION_END()          \
+  __DSB();                              \
+  if (irqon) __enable_irq();

-#define CRITICAL_SECTION_END \
-  if (!primask)              \
-  (void)__iSeiRetVal()
-
-// Disable interrupts
-#define cli() noInterrupts()
-
-// Enable interrupts
-#define sei() interrupts()
+#define cli() __disable_irq()
+#define sei() __enable_irq()

 // bss_end alias
 #define __bss_end __bss_end__
@@ -31,24 +31,24 @@

 #define NUM_DIGITAL_PINS BOARD_NR_GPIO_PINS
 #define NUMBER_PINS_TOTAL BOARD_NR_GPIO_PINS
-#define VALID_PIN(pin) IS_GPIO_PIN(pin)
+#define isValidPin(pin) IS_GPIO_PIN(pin)

 // Note: pin_array is defined in `Marlin/src/pins/pinsDebug.h`, and since this file is included
 // after it, it is available in this file as well.
-#define GET_ARRAY_PIN(p) pin_t(pin_array[p].pin)
+#define getPinByIndex(p) pin_t(pin_array[p].pin)
 #define digitalRead_mod(p) extDigitalRead(p)
-#define PRINT_PIN(p)                              \
+#define printPinNumber(p)                              \
  do {                                            \
    sprintf_P(buffer, PSTR("%3hd "), int16_t(p)); \
    SERIAL_ECHO(buffer);                          \
  } while (0)
-#define PRINT_PIN_ANALOG(p)                                               \
+#define printPinAnalog(p)                                               \
  do {                                                                    \
-    sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); \
+    sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(pin)); \
    SERIAL_ECHO(buffer);                                                  \
  } while (0)
-#define PRINT_PORT(p) print_port(p)
-#define PRINT_ARRAY_NAME(x)                                                          \
+#define PRINT_PORT(p) printPinPort(p)
+#define printPinNameByIndex(x)                                                          \
  do {                                                                               \
    sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); \
    SERIAL_ECHO(buffer);                                                             \
@@ -71,14 +71,14 @@
  #define M43_NEVER_TOUCH(Q) (IS_HOST_USART_PIN(Q) || IS_OSC_PIN(Q))
 #endif

-static pin_t DIGITAL_PIN_TO_ANALOG_PIN(pin_t pin) {
-  if (!VALID_PIN(pin)) return -1;
+static int8_t digitalPinToAnalogIndex(pin_t pin) {
+  if (!isValidPin(pin)) return -1;
  const int8_t adc_channel = int8_t(PIN_MAP[pin].adc_info.channel);
  return pin_t(adc_channel);
 }

-static bool IS_ANALOG(pin_t pin) {
-  if (!VALID_PIN(pin)) return false;
+static bool isAnalogPin(pin_t pin) {
+  if (!isValidPin(pin)) return false;

  if (PIN_MAP[pin].adc_info.channel != ADC_PIN_INVALID)
    return _GET_MODE(pin) == INPUT_ANALOG && !M43_NEVER_TOUCH(pin);
@@ -86,13 +86,13 @@ static bool IS_ANALOG(pin_t pin) {
  return false;
 }

-static bool GET_PINMODE(const pin_t pin) {
-  return VALID_PIN(pin) && !IS_INPUT(pin);
+static bool getValidPinMode(const pin_t pin) {
+  return isValidPin(pin) && !IS_INPUT(pin);
 }

-static bool GET_ARRAY_IS_DIGITAL(const int16_t array_pin) {
-  const pin_t pin = GET_ARRAY_PIN(array_pin);
-  return (!IS_ANALOG(pin));
+static bool getPinIsDigitalByIndex(const int16_t array_pin) {
+  const pin_t pin = getPinByIndex(array_pin);
+  return (!isAnalogPin(pin));
 }

 /**
@@ -117,7 +117,7 @@ bool pwm_status(const pin_t pin) {
  return timera_is_unit_initialized(unit) && timera_is_channel_active(unit, channel) && getPinMode(pin) == OUTPUT_PWM;
 }

-void pwm_details(const pin_t pin) {
+void printPinPWM(const pin_t pin) {
  // Get timer assignment for pin
  timera_config_t *unit;
  en_timera_channel_t channel;
@@ -161,7 +161,7 @@ void pwm_details(const pin_t pin) {
  }
 }

-void print_port(pin_t pin) {
+void printPinPort(pin_t pin) {
  const char port = 'A' + char(pin >> 4); // Pin div 16
  const int16_t gbit = PIN_MAP[pin].bit_pos;
  char buffer[8];
@@ -97,7 +97,7 @@ void core_hook_sysclock_init() {
  #endif

  // sysclk is now configured according to F_CPU (i.e., 200MHz PLL output)
-  constexpr uint32_t sysclock = F_CPU;
+  const uint32_t sysclock = F_CPU;

  // Setup clock divisors for sysclk = 200 MHz
  // Note: PCLK1 is used for step+temp timers, and need to be kept at 50 MHz (until there is a better solution)
@@ -52,7 +52,7 @@ uint8_t MarlinHAL::active_ch = 0;

 uint16_t MarlinHAL::adc_value() {
  const pin_t pin = analogInputToDigitalPin(active_ch);
-  if (!VALID_PIN(pin)) return 0;
+  if (!isValidPin(pin)) return 0;
  return uint16_t((Gpio::get(pin) >> 2) & 0x3FF); // return 10bit value as Marlin expects
 }

@@ -49,28 +49,28 @@ extern "C" void delay(const int msec) {
 // IO functions
 // As defined by Arduino INPUT(0x0), OUTPUT(0x1), INPUT_PULLUP(0x2)
 void pinMode(const pin_t pin, const uint8_t mode) {
-  if (!VALID_PIN(pin)) return;
+  if (!isValidPin(pin)) return;
  Gpio::setMode(pin, mode);
 }

 void digitalWrite(pin_t pin, uint8_t pin_status) {
-  if (!VALID_PIN(pin)) return;
+  if (!isValidPin(pin)) return;
  Gpio::set(pin, pin_status);
 }

 bool digitalRead(pin_t pin) {
-  if (!VALID_PIN(pin)) return false;
+  if (!isValidPin(pin)) return false;
  return Gpio::get(pin);
 }

 void analogWrite(pin_t pin, int pwm_value) {  // 1 - 254: pwm_value, 0: LOW, 255: HIGH
-  if (!VALID_PIN(pin)) return;
+  if (!isValidPin(pin)) return;
  Gpio::set(pin, pwm_value);
 }

 uint16_t analogRead(pin_t adc_pin) {
-  if (!VALID_PIN(DIGITAL_PIN_TO_ANALOG_PIN(adc_pin))) return 0;
-  return Gpio::get(DIGITAL_PIN_TO_ANALOG_PIN(adc_pin));
+  if (!isValidPin(digitalPinToAnalogIndex(adc_pin))) return 0;
+  return Gpio::get(digitalPinToAnalogIndex(adc_pin));
 }

 char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s) {
@@ -42,7 +42,7 @@ constexpr pin_t analogInputToDigitalPin(const int8_t p) {
 }

 // Get the analog index for a digital pin
-constexpr int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p) {
+constexpr int8_t digitalPinToAnalogIndex(const pin_t p) {
  return (WITHIN(p, analog_offset, NUM_DIGITAL_PINS) ? p - analog_offset : P_NC);
 }

@@ -50,7 +50,7 @@ constexpr int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p) {
 constexpr int16_t GET_PIN_MAP_INDEX(const pin_t pin) { return pin; }

 // Test whether the pin is valid
-constexpr bool VALID_PIN(const pin_t p) { return WITHIN(p, 0, NUM_DIGITAL_PINS); }
+constexpr bool isValidPin(const pin_t p) { return WITHIN(p, 0, NUM_DIGITAL_PINS); }

 // Test whether the pin is PWM
 constexpr bool PWM_PIN(const pin_t p) { return false; }
@@ -29,20 +29,20 @@
 */

 #define NUMBER_PINS_TOTAL   NUM_DIGITAL_PINS
-#define IS_ANALOG(P)        (DIGITAL_PIN_TO_ANALOG_PIN(P) >= 0 ? 1 : 0)
+#define isAnalogPin(P)        (digitalPinToAnalogIndex(P) >= 0 ? 1 : 0)
 #define digitalRead_mod(p)  digitalRead(p)
-#define GET_ARRAY_PIN(p)    pin_array[p].pin
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN(p)        do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
+#define getPinByIndex(p)    pin_array[p].pin
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(p)        do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(pin)); SERIAL_ECHO(buffer); }while(0)
 #define MULTI_NAME_PAD      16 // space needed to be pretty if not first name assigned to a pin

 // active ADC function/mode/code values for PINSEL registers
 constexpr int8_t ADC_pin_mode(pin_t pin) { return -1; }

-int8_t get_pin_mode(const pin_t pin) { return VALID_PIN(pin) ? 0 : -1; }
+int8_t get_pin_mode(const pin_t pin) { return isValidPin(pin) ? 0 : -1; }

-bool GET_PINMODE(const pin_t pin) {
+bool getValidPinMode(const pin_t pin) {
  const int8_t pin_mode = get_pin_mode(pin);
  if (pin_mode == -1 || pin_mode == ADC_pin_mode(pin)) // Invalid pin or active analog pin
    return false;
@@ -50,11 +50,11 @@ bool GET_PINMODE(const pin_t pin) {
  return (Gpio::getMode(pin) != 0); // Input/output state
 }

-bool GET_ARRAY_IS_DIGITAL(const pin_t pin) {
-  return (!IS_ANALOG(pin) || get_pin_mode(pin) != ADC_pin_mode(pin));
+bool getPinIsDigitalByIndex(const pin_t pin) {
+  return (!isAnalogPin(pin) || get_pin_mode(pin) != ADC_pin_mode(pin));
 }

-void pwm_details(const pin_t pin) {}
+void printPinPWM(const pin_t pin) {}
 bool pwm_status(const pin_t) { return false; }

-void print_port(const pin_t) {}
+void printPinPort(const pin_t) {}
@@ -137,12 +137,12 @@ extern DefaultSerial1 USBSerial;
 //

 // Test whether the pin is valid
-constexpr bool VALID_PIN(const pin_t pin) {
+constexpr bool isValidPin(const pin_t pin) {
  return LPC176x::pin_is_valid(pin);
 }

 // Get the analog index for a digital pin
-constexpr int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t pin) {
+constexpr int8_t digitalPinToAnalogIndex(const pin_t pin) {
  return (LPC176x::pin_is_valid(pin) && LPC176x::pin_has_adc(pin)) ? pin : -1;
 }

@@ -29,12 +29,12 @@
 */

 #define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
-#define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P) >= 0 ? 1 : 0)
+#define isAnalogPin(P) (digitalPinToAnalogIndex(P) >= 0 ? 1 : 0)
 #define digitalRead_mod(p) extDigitalRead(p)
-#define GET_ARRAY_PIN(p) pin_array[p].pin
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("P%d_%02d"), LPC176x::pin_port(p), LPC176x::pin_bit(p)); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR("_A%d     "), LPC176x::pin_get_adc_channel(pin)); SERIAL_ECHO(buffer); }while(0)
+#define getPinByIndex(p) pin_array[p].pin
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(p) do{ sprintf_P(buffer, PSTR("P%d_%02d"), LPC176x::pin_port(p), LPC176x::pin_bit(p)); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(p) do{ sprintf_P(buffer, PSTR("_A%d     "), LPC176x::pin_get_adc_channel(pin)); SERIAL_ECHO(buffer); }while(0)
 #define MULTI_NAME_PAD 17 // space needed to be pretty if not first name assigned to a pin

 // pins that will cause hang/reset/disconnect in M43 Toggle and Watch utilities
@@ -42,15 +42,15 @@
  #define M43_NEVER_TOUCH(Q) ((Q) == P0_29 || (Q) == P0_30 || (Q) == P2_09)  // USB pins
 #endif

-bool GET_PINMODE(const pin_t pin) {
+bool getValidPinMode(const pin_t pin) {
  if (!LPC176x::pin_is_valid(pin) || LPC176x::pin_adc_enabled(pin)) // Invalid pin or active analog pin
    return false;

  return LPC176x::gpio_direction(pin);
 }

-#define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital)
+#define getPinIsDigitalByIndex(x) ((bool) pin_array[x].is_digital)

-void print_port(const pin_t) {}
-void pwm_details(const pin_t) {}
+void printPinPort(const pin_t) {}
+void printPinPWM(const pin_t) {}
 bool pwm_status(const pin_t) { return false; }
@@ -27,9 +27,9 @@

 int8_t ADC_pin_mode(pin_t pin) { return -1; }

-int8_t get_pin_mode(const pin_t pin) { return VALID_PIN(pin) ? 0 : -1; }
+int8_t get_pin_mode(const pin_t pin) { return isValidPin(pin) ? 0 : -1; }

-bool GET_PINMODE(const pin_t pin) {
+bool getValidPinMode(const pin_t pin) {
  const int8_t pin_mode = get_pin_mode(pin);
  if (pin_mode == -1 || pin_mode == ADC_pin_mode(pin)) // Invalid pin or active analog pin
    return false;
@@ -37,12 +37,12 @@ bool GET_PINMODE(const pin_t pin) {
  return (Gpio::getMode(pin) != 0); // Input/output state
 }

-bool GET_ARRAY_IS_DIGITAL(const pin_t pin) {
-  return !IS_ANALOG(pin) || get_pin_mode(pin) != ADC_pin_mode(pin);
+bool getPinIsDigitalByIndex(const pin_t pin) {
+  return !isAnalogPin(pin) || get_pin_mode(pin) != ADC_pin_mode(pin);
 }

-void print_port(const pin_t) {}
-void pwm_details(const pin_t) {}
+void printPinPort(const pin_t) {}
+void printPinPWM(const pin_t) {}
 bool pwm_status(const pin_t) { return false; }

 #endif
@@ -30,19 +30,19 @@
 */

 #define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
-#define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P) >= 0 ? 1 : 0)
+#define isAnalogPin(P) (digitalPinToAnalogIndex(P) >= 0 ? 1 : 0)
 #define digitalRead_mod(p)  digitalRead(p)
-#define GET_ARRAY_PIN(p) pin_array[p].pin
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
+#define getPinByIndex(p) pin_array[p].pin
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(pin)); SERIAL_ECHO(buffer); }while(0)
 #define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin

 // Active ADC function/mode/code values for PINSEL registers
 int8_t ADC_pin_mode(pin_t pin);
 int8_t get_pin_mode(const pin_t pin);
-bool GET_PINMODE(const pin_t pin);
-bool GET_ARRAY_IS_DIGITAL(const pin_t pin);
-void print_port(const pin_t);
-void pwm_details(const pin_t);
+bool getValidPinMode(const pin_t pin);
+bool getPinIsDigitalByIndex(const pin_t pin);
+void printPinPort(const pin_t);
+void printPinPWM(const pin_t);
 bool pwm_status(const pin_t);
@@ -152,7 +152,7 @@
                                 : ((P) == 14) ? ADC_INPUTCTRL_MUXPOS_PIN14 \
                                 : ADC_INPUTCTRL_MUXPOS_PIN15)

-#define digitalPinToAnalogInput(P) (WITHIN(P, 67, 74) ? (P) - 67 : WITHIN(P, 54, 61) ? 8 + (P) - 54 : WITHIN(P, 12, 13) ? 16 + (P) - 12 : P == 9 ? 18 : -1)
+#define digitalPinToAnalogIndex(P) (WITHIN(P, 67, 74) ? (P) - 67 : WITHIN(P, 54, 61) ? 8 + (P) - 54 : WITHIN(P, 12, 13) ? 16 + (P) - 12 : P == 9 ? 18 : -1)

 /**
 * pins
@@ -30,14 +30,13 @@

 #define digitalRead_mod(p) extDigitalRead(p)
 #define PRINT_PORT(p) do{ SERIAL_ECHOPGM("  Port: "); sprintf_P(buffer, PSTR("%c%02ld"), 'A' + g_APinDescription[p].ulPort, g_APinDescription[p].ulPin); SERIAL_ECHO(buffer); }while (0)
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
-#define GET_ARRAY_PIN(p) pin_array[p].pin
-#define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
-#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL)
-#define DIGITAL_PIN_TO_ANALOG_PIN(p) digitalPinToAnalogInput(p)
-#define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P)!=-1)
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(pin)); SERIAL_ECHO(buffer); }while(0)
+#define getPinByIndex(p) pin_array[p].pin
+#define getPinIsDigitalByIndex(p) pin_array[p].is_digital
+#define isValidPin(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL)
+#define isAnalogPin(P) (digitalPinToAnalogIndex(P)!=-1)
 #define pwm_status(pin) digitalPinHasPWM(pin)
 #define MULTI_NAME_PAD 27 // space needed to be pretty if not first name assigned to a pin

@@ -45,13 +44,13 @@
 // uses pin index
 #define M43_NEVER_TOUCH(Q) ((Q) >= 75)

-bool GET_PINMODE(int8_t pin) {  // 1: output, 0: input
+bool getValidPinMode(int8_t pin) {  // 1: output, 0: input
  const EPortType samdport = g_APinDescription[pin].ulPort;
  const uint32_t samdpin = g_APinDescription[pin].ulPin;
  return PORT->Group[samdport].DIR.reg & MASK(samdpin) || (PORT->Group[samdport].PINCFG[samdpin].reg & (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN)) == PORT_PINCFG_PULLEN;
 }

-void pwm_details(int32_t pin) {
+void printPinPWM(int32_t pin) {
  if (pwm_status(pin)) {
    //uint32_t chan = g_APinDescription[pin].ulPWMChannel TODO when fast pwm is operative;
    //SERIAL_ECHOPGM("PWM = ", duty);
@@ -69,6 +69,16 @@
    #endif
  #endif

+  #ifdef SERIAL_PORT_3
+    #if SERIAL_PORT_3 == -1
+      #define MYSERIAL3 MSerial0
+    #elif WITHIN(SERIAL_PORT_3, 0, 3)
+      #define MYSERIAL3 MSERIAL(SERIAL_PORT_3)
+    #else
+      #error "SERIAL_PORT_3 must be from 0 to 3. You can also use -1 if the board supports Native USB."
+    #endif
+  #endif
+
  #ifdef MMU2_SERIAL_PORT
    #if MMU2_SERIAL_PORT == -1
      #define MMU2_SERIAL MSerial0
@@ -174,7 +174,7 @@
                                   : (P == 17) ? PIN_TO_SAMD_PIN(13)  \
                                   : PIN_TO_SAMD_PIN(9))

-  #define digitalPinToAnalogInput(P) (WITHIN(P, 67, 74) ? (P) - 67 : WITHIN(P, 54, 61) ? 8 + (P) - 54 : WITHIN(P, 12, 13) ? 16 + (P) - 12 : P == 9 ? 18 : -1)
+  #define digitalPinToAnalogIndex(P) (WITHIN(P, 67, 74) ? (P) - 67 : WITHIN(P, 54, 61) ? 8 + (P) - 54 : WITHIN(P, 12, 13) ? 16 + (P) - 12 : P == 9 ? 18 : -1)

  /**
   * pins
@@ -29,14 +29,13 @@

 #define digitalRead_mod(p) extDigitalRead(p)
 #define PRINT_PORT(p) do{ SERIAL_ECHOPGM("  Port: "); sprintf_P(buffer, PSTR("%c%02ld"), 'A' + g_APinDescription[p].ulPort, g_APinDescription[p].ulPin); SERIAL_ECHO(buffer); }while (0)
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
-#define GET_ARRAY_PIN(p) pin_array[p].pin
-#define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
-#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL))
-#define DIGITAL_PIN_TO_ANALOG_PIN(p) digitalPinToAnalogInput(p)
-#define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P)!=-1)
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(pin)); SERIAL_ECHO(buffer); }while(0)
+#define getPinByIndex(p) pin_array[p].pin
+#define getPinIsDigitalByIndex(p) pin_array[p].is_digital
+#define isValidPin(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL))
+#define isAnalogPin(P) (digitalPinToAnalogIndex(P)!=-1)
 #define pwm_status(pin) digitalPinHasPWM(pin)
 #define MULTI_NAME_PAD 27 // space needed to be pretty if not first name assigned to a pin

@@ -44,13 +43,13 @@
 // uses pin index
 #define M43_NEVER_TOUCH(Q) ((Q) >= 75)

-bool GET_PINMODE(int8_t pin) {  // 1: output, 0: input
+bool getValidPinMode(int8_t pin) {  // 1: output, 0: input
  const EPortType samdport = g_APinDescription[pin].ulPort;
  const uint32_t samdpin = g_APinDescription[pin].ulPin;
  return PORT->Group[samdport].DIR.reg & MASK(samdpin) || (PORT->Group[samdport].PINCFG[samdpin].reg & (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN)) == PORT_PINCFG_PULLEN;
 }

-void pwm_details(int32_t pin) {
+void printPinPWM(int32_t pin) {
  if (pwm_status(pin)) {
    //uint32_t chan = g_APinDescription[pin].ulPWMChannel TODO when fast pwm is operative;
    //SERIAL_ECHOPGM("PWM = ", duty);
@@ -129,7 +129,7 @@
 * TODO: review this to return 1 for pins that are not analog input
 */
 #ifndef analogInputToDigitalPin
-  #define analogInputToDigitalPin(p) (p)
+  #define analogInputToDigitalPin(p) pin_t(p)
 #endif

 //
@@ -37,6 +37,9 @@
 #ifndef USART5
  #define USART5 UART5
 #endif
+#ifndef USART6
+  #define USART6 UART6
+#endif
 #ifndef USART7
  #define USART7 UART7
 #endif
@@ -115,16 +115,16 @@ const XrefInfo pin_xref[] PROGMEM = {
  #define NUM_ANALOG_LAST ((NUM_ANALOG_FIRST) + (NUM_ANALOG_INPUTS) - 1)
 #endif
 #define NUMBER_PINS_TOTAL ((NUM_DIGITAL_PINS) + TERN0(HAS_HIGH_ANALOG_PINS, NUM_ANALOG_INPUTS))
-#define VALID_PIN(P) (WITHIN(P, 0, (NUM_DIGITAL_PINS) - 1) || TERN0(HAS_HIGH_ANALOG_PINS, WITHIN(P, NUM_ANALOG_FIRST, NUM_ANALOG_LAST)))
+#define isValidPin(P) (WITHIN(P, 0, (NUM_DIGITAL_PINS) - 1) || TERN0(HAS_HIGH_ANALOG_PINS, WITHIN(P, NUM_ANALOG_FIRST, NUM_ANALOG_LAST)))
 #define digitalRead_mod(Ard_num) extDigitalRead(Ard_num)  // must use Arduino pin numbers when doing reads
-#define PRINT_PIN(Q)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
-#define DIGITAL_PIN_TO_ANALOG_PIN(ANUM) -1  // will report analog pin number in the print port routine
+#define printPinNumber(Q)
+#define printPinAnalog(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(pin)); SERIAL_ECHO(buffer); }while(0)
+#define digitalPinToAnalogIndex(ANUM) -1  // will report analog pin number in the print port routine

 // x is a variable used to search pin_array
-#define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital)
-#define GET_ARRAY_PIN(x) ((pin_t) pin_array[x].pin)
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define getPinIsDigitalByIndex(x) ((bool) pin_array[x].is_digital)
+#define getPinByIndex(x) ((pin_t) pin_array[x].pin)
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
 #define MULTI_NAME_PAD 33 // space needed to be pretty if not first name assigned to a pin

 //
@@ -164,7 +164,7 @@ uint8_t get_pin_mode(const pin_t Ard_num) {
  }
 }

-bool GET_PINMODE(const pin_t Ard_num) {
+bool getValidPinMode(const pin_t Ard_num) {
  const uint8_t pin_mode = get_pin_mode(Ard_num);
  return pin_mode == MODE_PIN_OUTPUT || pin_mode == MODE_PIN_ALT;  // assume all alt definitions are PWM
 }
@@ -173,11 +173,11 @@ int8_t digital_pin_to_analog_pin(const pin_t Ard_num) {
  if (WITHIN(Ard_num, NUM_ANALOG_FIRST, NUM_ANALOG_LAST))
    return Ard_num - NUM_ANALOG_FIRST;

-  const uint32_t ind = digitalPinToAnalogInput(Ard_num);
+  const int8_t ind = digitalPinToAnalogIndex(Ard_num);
  return (ind < NUM_ANALOG_INPUTS) ? ind : -1;
 }

-bool IS_ANALOG(const pin_t Ard_num) {
+bool isAnalogPin(const pin_t Ard_num) {
  return get_pin_mode(Ard_num) == MODE_PIN_ANALOG;
 }

@@ -186,7 +186,7 @@ bool is_digital(const pin_t Ard_num) {
  return pin_mode == MODE_PIN_INPUT || pin_mode == MODE_PIN_OUTPUT;
 }

-void print_port(const pin_t Ard_num) {
+void printPinPort(const pin_t Ard_num) {
  char buffer[16];
  pin_t Index;
  for (Index = 0; Index < NUMBER_PINS_TOTAL; Index++)
@@ -226,7 +226,7 @@ bool pwm_status(const pin_t Ard_num) {
  return get_pin_mode(Ard_num) == MODE_PIN_ALT;
 }

-void pwm_details(const pin_t Ard_num) {
+void printPinPWM(const pin_t Ard_num) {
  #ifndef STM32F1xx
    if (pwm_status(Ard_num)) {
      uint32_t alt_all = 0;
@@ -285,4 +285,4 @@ void pwm_details(const pin_t Ard_num) {
  #else
    // TODO: F1 doesn't support changing pins function, so we need to check the function of the PIN and if it's enabled
  #endif
-} // pwm_details
+} // printPinPWM
@@ -158,7 +158,7 @@
 * TODO: review this to return 1 for pins that are not analog input
 */
 #ifndef analogInputToDigitalPin
-  #define analogInputToDigitalPin(p) (p)
+  #define analogInputToDigitalPin(p) pin_t(p)
 #endif

 #ifndef digitalPinHasPWM
@@ -39,12 +39,12 @@ extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS];

 #define NUM_DIGITAL_PINS BOARD_NR_GPIO_PINS
 #define NUMBER_PINS_TOTAL BOARD_NR_GPIO_PINS
-#define VALID_PIN(pin) (pin >= 0 && pin < BOARD_NR_GPIO_PINS)
-#define GET_ARRAY_PIN(p) pin_t(pin_array[p].pin)
+#define isValidPin(pin) (pin >= 0 && pin < BOARD_NR_GPIO_PINS)
+#define getPinByIndex(p) pin_t(pin_array[p].pin)
 #define digitalRead_mod(p) extDigitalRead(p)
-#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3hd "), int16_t(p)); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(p) do{ sprintf_P(buffer, PSTR("%3hd "), int16_t(p)); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(pin)); SERIAL_ECHO(buffer); }while(0)
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
 #define MULTI_NAME_PAD 21 // space needed to be pretty if not first name assigned to a pin

 // pins that will cause hang/reset/disconnect in M43 Toggle and Watch utilities
@@ -52,10 +52,10 @@ extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS];
  #define M43_NEVER_TOUCH(Q) (Q >= 9 && Q <= 12) // SERIAL/USB pins PA9(TX) PA10(RX)
 #endif

-int8_t get_pin_mode(const pin_t pin) { return VALID_PIN(pin) ? _GET_MODE(pin) : -1; }
+int8_t get_pin_mode(const pin_t pin) { return isValidPin(pin) ? _GET_MODE(pin) : -1; }

-pin_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t pin) {
-  if (!VALID_PIN(pin)) return -1;
+int8_t digitalPinToAnalogIndex(const pin_t pin) {
+  if (!isValidPin(pin)) return -1;
  pin_t adc_channel = pin_t(PIN_MAP[pin].adc_channel);
  #ifdef NUM_ANALOG_INPUTS
    if (adc_channel >= NUM_ANALOG_INPUTS) adc_channel = (pin_t)ADCx;
@@ -63,8 +63,8 @@ pin_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t pin) {
  return adc_channel;
 }

-bool IS_ANALOG(const pin_t pin) {
-  if (!VALID_PIN(pin)) return false;
+bool isAnalogPin(const pin_t pin) {
+  if (!isValidPin(pin)) return false;
  if (PIN_MAP[pin].adc_channel != ADCx) {
    #ifdef NUM_ANALOG_INPUTS
      if (PIN_MAP[pin].adc_channel >= NUM_ANALOG_INPUTS) return false;
@@ -74,13 +74,13 @@ bool IS_ANALOG(const pin_t pin) {
  return false;
 }

-bool GET_PINMODE(const pin_t pin) {
-  return VALID_PIN(pin) && !IS_INPUT(pin);
+bool getValidPinMode(const pin_t pin) {
+  return isValidPin(pin) && !IS_INPUT(pin);
 }

-bool GET_ARRAY_IS_DIGITAL(const int16_t array_pin) {
-  const pin_t pin = GET_ARRAY_PIN(array_pin);
-  return (!IS_ANALOG(pin)
+bool getPinIsDigitalByIndex(const int16_t array_pin) {
+  const pin_t pin = getPinByIndex(array_pin);
+  return (!isAnalogPin(pin)
    #ifdef NUM_ANALOG_INPUTS
      || PIN_MAP[pin].adc_channel >= NUM_ANALOG_INPUTS
    #endif
@@ -89,7 +89,7 @@ bool GET_ARRAY_IS_DIGITAL(const int16_t array_pin) {

 #include "../../inc/MarlinConfig.h" // Allow pins/pins.h to set density

-void pwm_details(const pin_t pin) {
+void printPinPWM(const pin_t pin) {
  if (PWM_PIN(pin)) {
    timer_dev * const tdev = PIN_MAP[pin].timer_device;
    const uint8_t channel = PIN_MAP[pin].timer_channel;
@@ -111,7 +111,7 @@ void pwm_details(const pin_t pin) {

 bool pwm_status(const pin_t pin) { return PWM_PIN(pin); }

-void print_port(const pin_t pin) {
+void printPinPort(const pin_t pin) {
  const char port = 'A' + char(pin >> 4); // pin div 16
  const int16_t gbit = PIN_MAP[pin].gpio_bit;
  char buffer[8];
@@ -98,7 +98,7 @@ uint32_t __get_PRIMASK(void); // CMSIS
 // ------------------------

 #ifndef analogInputToDigitalPin
-  #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
+  #define analogInputToDigitalPin(p) pin_t((p < 12U) ? (p) + 54U : -1)
 #endif

 #define HAL_ADC_VREF_MV   3300
@@ -41,7 +41,7 @@ typedef uint32_t hal_timer_t;
 #define FTM0_TIMER_PRESCALE_BITS 0b011
 #define FTM1_TIMER_PRESCALE_BITS 0b010

-#define FTM0_TIMER_RATE (F_BUS / (FTM0_TIMER_PRESCALE)) // 60MHz / 8 = 7500kHz
+#define FTM0_TIMER_RATE (F_BUS / (FTM0_TIMER_PRESCALE)) // 60MHz / 8 = 7.5MHz
 #define FTM1_TIMER_RATE (F_BUS / (FTM1_TIMER_PRESCALE)) // 60MHz / 4 = 15MHz

 #define HAL_TIMER_RATE         (FTM0_TIMER_RATE)
@@ -103,7 +103,7 @@ typedef int8_t pin_t;
 // ------------------------

 #ifndef analogInputToDigitalPin
-  #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
+  #define analogInputToDigitalPin(p) pin_t((p < 12U) ? (p) + 54U : -1)
 #endif

 #define HAL_ADC_VREF_MV   3300
@@ -53,9 +53,9 @@
  #define TPM1_CH1_PIN 17
 #endif

-#define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(0) && (P) <= analogInputToDigitalPin(9)) || ((P) >= analogInputToDigitalPin(12) && (P) <= analogInputToDigitalPin(20))
+#define isAnalogPin(P) ((P) >= analogInputToDigitalPin(0) && (P) <= analogInputToDigitalPin(9)) || ((P) >= analogInputToDigitalPin(12) && (P) <= analogInputToDigitalPin(20))

-void print_analog_pin(char buffer[], int8_t pin) {
+void printAnalogPin(char buffer[], int8_t pin) {
  if (pin <= 23)      sprintf_P(buffer, PSTR("(A%2d)  "), int(pin - 14));
  else if (pin <= 39) sprintf_P(buffer, PSTR("(A%2d)  "), int(pin - 19));
 }
@@ -108,4 +108,4 @@ bool pwm_status(int8_t pin) {
  SERIAL_ECHOPGM("  ");
 }

-void pwm_details(uint8_t pin) { /* TODO */ }
+void printPinPWM(uint8_t pin) { /* TODO */ }
@@ -133,7 +133,7 @@ typedef int8_t pin_t;
 // ------------------------

 #ifndef analogInputToDigitalPin
-  #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
+  #define analogInputToDigitalPin(p) pin_t((p < 12U) ? (p) + 54U : -1)
 #endif

 #define HAL_ADC_VREF_MV   3300
@@ -30,17 +30,18 @@
 #define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS

 #define digitalRead_mod(p) extDigitalRead(p)  // AVR digitalRead disabled PWM before it read the pin
-#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%02d"), p); SERIAL_ECHO(buffer); }while(0)
-#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0)
-#define GET_ARRAY_PIN(p) pin_array[p].pin
-#define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital
-#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL))
-#define DIGITAL_PIN_TO_ANALOG_PIN(p) int(p - analogInputToDigitalPin(0))
-#define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(0) && (P) <= analogInputToDigitalPin(13)) || ((P) >= analogInputToDigitalPin(14) && (P) <= analogInputToDigitalPin(17))
-#define GET_PINMODE(PIN) (VALID_PIN(pin) && IS_OUTPUT(pin))
+#define printPinNameByIndex(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0)
+#define printPinNumber(p) do{ sprintf_P(buffer, PSTR("%02d"), p); SERIAL_ECHO(buffer); }while(0)
+#define printPinAnalog(p) do{ sprintf_P(buffer, PSTR(" (A%2d)  "), digitalPinToAnalogIndex(pin)); SERIAL_ECHO(buffer); }while(0)
+#define getPinByIndex(p) pin_array[p].pin
+#define getPinIsDigitalByIndex(p) pin_array[p].is_digital
+#define isValidPin(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL))
+#define digitalPinToAnalogIndex(p) int(p - analogInputToDigitalPin(0))
+#define getValidPinMode(PIN) (isValidPin(pin) && IS_OUTPUT(pin))
 #define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin

+#define isAnalogPin(P) (pin_t(P) >= analogInputToDigitalPin(0) && pin_t(P) <= analogInputToDigitalPin(13)) || (pin_t(P) >= analogInputToDigitalPin(14) && pin_t(P) <= analogInputToDigitalPin(17))
+
 struct pwm_pin_info_struct {
  uint8_t type;    // 0=no pwm, 1=flexpwm, 2=quad
  uint8_t module;  // 0-3, 0-3
@@ -118,7 +119,7 @@ const struct pwm_pin_info_struct pwm_pin_info[] = {
  #endif
 };

-void print_analog_pin(char buffer[], const pin_t pin) {
+void printAnalogPin(char buffer[], const pin_t pin) {
  if (pin <= 23)      sprintf_P(buffer, PSTR("(A%2d)  "), int(pin - 14));
  else if (pin <= 41) sprintf_P(buffer, PSTR("(A%2d)  "), int(pin - 24));
 }
@@ -149,6 +150,6 @@ bool pwm_status(const pin_t pin) {
  return (*(portConfigRegister(pin)) == info->muxval);
 }

-void pwm_details(const pin_t) { /* TODO */ }
+void printPinPWM(const pin_t) { /* TODO */ }

-void print_port(const pin_t) {}
+void printPinPort(const pin_t) {}
@@ -81,4 +81,4 @@ void eeprom_write_byte(uint8_t *pos, uint8_t value) {
 }

 #endif // USE_SHARED_EEPROM
-#endif // I2C_EEPROM
+#endif // SPI_EEPROM
@@ -229,12 +229,14 @@
  #include "feature/controllerfan.h"
 #endif

-#if HAS_PRUSA_MMU1
-  #include "feature/mmu/mmu.h"
-#endif
-
-#if HAS_PRUSA_MMU2
+#if HAS_PRUSA_MMU3
+  #include "feature/mmu3/mmu2.h"
+  #include "feature/mmu3/mmu2_reporting.h"
+  #include "feature/mmu3/SpoolJoin.h"
+#elif HAS_PRUSA_MMU2
  #include "feature/mmu/mmu2.h"
+#elif HAS_PRUSA_MMU1
+  #include "feature/mmu/mmu.h"
 #endif

 #if ENABLED(PASSWORD_FEATURE)
@@ -311,20 +313,21 @@ bool wait_for_heatup = false;

 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wnarrowing"
+#pragma GCC diagnostic ignored "-Wsign-compare"

 bool pin_is_protected(const pin_t pin) {
  #define pgm_read_pin(P) (sizeof(pin_t) == 2 ? (pin_t)pgm_read_word(P) : (pin_t)pgm_read_byte(P))
  for (uint8_t i = 0; i < COUNT(sensitive_dio); ++i)
    if (pin == pgm_read_pin(&sensitive_dio[i])) return true;
  for (uint8_t i = 0; i < COUNT(sensitive_aio); ++i)
-    if (pin == analogInputToDigitalPin(pgm_read_pin(&sensitive_dio[i]))) return true;
+    if (pin == analogInputToDigitalPin(pgm_read_pin(&sensitive_aio[i]))) return true;
  return false;
 }

 #pragma GCC diagnostic pop

 bool printer_busy() {
-  return planner.movesplanned() || printingIsActive();
+  return planner.has_blocks_queued() || printingIsActive();
 }

 /**
@@ -350,6 +353,7 @@ void startOrResumeJob() {
    TERN_(CANCEL_OBJECTS, cancelable.reset());
    TERN_(LCD_SHOW_E_TOTAL, e_move_accumulator = 0);
    TERN_(SET_REMAINING_TIME, ui.reset_remaining_time());
+    TERN_(HAS_PRUSA_MMU3, MMU3::operation_statistics.reset_per_print_stats());
  }
  print_job_timer.start();
 }
@@ -784,7 +788,7 @@ void idle(const bool no_stepper_sleep/*=false*/) {

  // Handle filament runout sensors
  #if HAS_FILAMENT_SENSOR
-    if (TERN1(HAS_PRUSA_MMU2, !mmu2.enabled()))
+    if (TERN1(HAS_PRUSA_MMU2, !mmu2.enabled()) && TERN1(HAS_PRUSA_MMU3, !mmu3.enabled()))
      runout.run();
  #endif

@@ -849,7 +853,11 @@ void idle(const bool no_stepper_sleep/*=false*/) {
  #endif

  // Update the Průša MMU2
-  TERN_(HAS_PRUSA_MMU2, mmu2.mmu_loop());
+  #if HAS_PRUSA_MMU3
+    mmu3.mmu_loop();
+  #elif HAS_PRUSA_MMU2
+    mmu2.mmu_loop();
+  #endif

  // Handle Joystick jogging
  TERN_(POLL_JOG, joystick.inject_jog_moves());
@@ -1585,7 +1593,11 @@ void setup() {
    SETUP_RUN(stepper_driver_backward_report());
  #endif

-  #if HAS_PRUSA_MMU2
+  #if HAS_PRUSA_MMU3
+    if (mmu3.mmu_hw_enabled) SETUP_RUN(mmu3.start());
+    SETUP_RUN(mmu3.status());
+    SETUP_RUN(spooljoin.initStatus());
+  #elif HAS_PRUSA_MMU2
    SETUP_RUN(mmu2.init());
  #endif

@@ -132,6 +132,8 @@
 #define BOARD_PANOWIN_CUTLASS         1165  // Panowin Cutlass (as found in the Panowin F1)
 #define BOARD_KODAMA_BARDO            1166  // Kodama Bardo V1.x (as found in the Kodama Trinus)
 #define BOARD_DAGOMA_D6               1167  // Dagoma D6 (as found in the Dagoma DiscoUltimate V2 TMC)
+#define BOARD_XTLW_MFF_V1             1168  // XTLW MFF V1.0
+#define BOARD_XTLW_MFF_V2             1169  // XTLW MFF V2.0

 //
 // RAMBo and derivatives
@@ -273,6 +275,7 @@
 #define BOARD_MKS_SGEN_L_V2           2509  // MKS SGEN_L V2
 #define BOARD_BTT_SKR_E3_TURBO        2510  // BigTreeTech SKR E3 Turbo
 #define BOARD_FLY_CDY                 2511  // FLYmaker FLY CDY
+#define BOARD_XTLW_CLIMBER_8TH_LPC    2512  // XTLW_CLIMBER_8TH_LPC

 //
 // SAM3X8E ARM Cortex-M3
@@ -467,6 +470,7 @@
 #define BOARD_MELLOW_FLY_E3_V2        5249  // Mellow Fly E3 V2 (STM32F407VG)
 #define BOARD_FYSETC_CHEETAH_V30      5250  // FYSETC Cheetah V3.0 (STM32F446RC)
 #define BOARD_BLACKBEEZMINI_V1        5251  // BlackBeezMini V1 (STM32F401CCU6)
+#define BOARD_XTLW_CLIMBER_8TH        5252  // XTLW Climber-8th (STM32F407VGT6)

 //
 // Other ARM Cortex-M4
@@ -162,8 +162,8 @@
 #define STR_SOFT_MIN                        "  Min: "
 #define STR_SOFT_MAX                        "  Max: "

-#define STR_SAVED_POS                       "Position saved"
-#define STR_RESTORING_POS                   "Restoring position"
+#define STR_SAVED_POSITION                  "Saved position #"
+#define STR_RESTORING_POSITION              "Restoring position #"
 #define STR_INVALID_POS_SLOT                "Invalid slot. Total: "
 #define STR_DONE                            "Done."

@@ -64,7 +64,7 @@

 // Macros for bit masks
 #undef _BV
-#define _BV(n) (1<<(n))
+#define _BV(b) (1 << (b))
 #define TEST(n,b) (!!((n)&_BV(b)))
 #define SET_BIT_TO(N,B,TF) do{ if (TF) SBI(N,B); else CBI(N,B); }while(0)
 #ifndef SBI
@@ -75,8 +75,8 @@ template <> void SERIAL_ECHO(const p_float_t pf) { SERIAL_IMPL.print(pf.value, p
 template <> void SERIAL_ECHO(const w_float_t wf) { char f1[20]; SERIAL_IMPL.print(dtostrf(wf.value, wf.width, wf.prec, f1)); }

 // Specializations for F-string
-template <> void SERIAL_ECHO(const FSTR_P fstr)   { SERIAL_ECHO_P(FTOP(fstr)); }
-template <> void SERIAL_ECHOLN(const FSTR_P fstr) { SERIAL_ECHOLN_P(FTOP(fstr)); }
+template <> void SERIAL_ECHO(FSTR_P const fstr)   { SERIAL_ECHO_P(FTOP(fstr)); }
+template <> void SERIAL_ECHOLN(FSTR_P const fstr) { SERIAL_ECHOLN_P(FTOP(fstr)); }

 void SERIAL_CHAR(char a) { SERIAL_IMPL.write(a); }
 void SERIAL_EOL() { SERIAL_CHAR('\n'); }
@@ -171,8 +171,8 @@ template<> void SERIAL_ECHO(const p_float_t pf);
 template<> void SERIAL_ECHO(const w_float_t wf);

 // Specializations for F-string
-template<> void SERIAL_ECHO(const FSTR_P fstr);
-template<> void SERIAL_ECHOLN(const FSTR_P fstr);
+template<> void SERIAL_ECHO(FSTR_P const fstr);
+template<> void SERIAL_ECHOLN(FSTR_P const fstr);

 // Print any number of items with arbitrary types (except loose PROGMEM strings)
 template <typename T, typename ... Args>
@@ -247,7 +247,7 @@ inline void print_xyz(const xyz_pos_t &xyz, FSTR_P const prefix=nullptr, FSTR_P

 void print_xyze(LOGICAL_AXIS_ARGS_(const_float_t) FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr);
 inline void print_xyze(const xyze_pos_t &xyze, FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr) {
-  print_xyze(LOGICAL_AXIS_ELEM_(xyze) prefix, suffix);
+  print_xyze(LOGICAL_AXIS_ELEM_LC_(xyze) prefix, suffix);
 }

 #define SERIAL_POS(SUFFIX,VAR) do { print_xyz(VAR, F("  " STRINGIFY(VAR) "="), F(" : " SUFFIX "\n")); }while(0)
@@ -42,22 +42,28 @@ template <class L, class R> struct IF<true, L, R> { typedef L type; };
 #define NUM_AXIS_LIST_1(V)    LIST_N_1(NUM_AXES, V)
 #define NUM_AXIS_ARRAY(V...)  { NUM_AXIS_LIST(V) }
 #define NUM_AXIS_ARRAY_1(V)   { NUM_AXIS_LIST_1(V) }
-#define NUM_AXIS_ARGS(T)      NUM_AXIS_LIST(T x, T y, T z, T i, T j, T k, T u, T v, T w)
-#define NUM_AXIS_ELEM(O)      NUM_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w)
-#define NUM_AXIS_DECL(T,V)    NUM_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V)
+#define NUM_AXIS_ARGS(T)      NUM_AXIS_LIST(T X, T Y, T Z, T I, T J, T K, T U, T V, T W)
+#define NUM_AXIS_ARGS_LC(T)   NUM_AXIS_LIST(T x, T y, T z, T i, T j, T k, T u, T v, T w)
+#define NUM_AXIS_ELEM(O)      NUM_AXIS_LIST(O.X, O.Y, O.Z, O.I, O.J, O.K, O.U, O.V, O.W)
+#define NUM_AXIS_ELEM_LC(O)   NUM_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w)
+#define NUM_AXIS_DECL(T,V)    NUM_AXIS_LIST(T X=V, T Y=V, T Z=V, T I=V, T J=V, T K=V, T U=V, T V=V, T W=V)
+#define NUM_AXIS_DECL_LC(T,V) NUM_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V)
 #define MAIN_AXIS_NAMES       NUM_AXIS_LIST(X, Y, Z, I, J, K, U, V, W)
 #define MAIN_AXIS_NAMES_LC    NUM_AXIS_LIST(x, y, z, i, j, k, u, v, w)
 #define STR_AXES_MAIN         NUM_AXIS_GANG("X", "Y", "Z", STR_I, STR_J, STR_K, STR_U, STR_V, STR_W)

-#define LOGICAL_AXIS_GANG(E,V...)  NUM_AXIS_GANG(V) GANG_ITEM_E(E)
-#define LOGICAL_AXIS_CODE(E,V...)  NUM_AXIS_CODE(V) CODE_ITEM_E(E)
-#define LOGICAL_AXIS_LIST(E,V...)  NUM_AXIS_LIST(V) LIST_ITEM_E(E)
+#define LOGICAL_AXIS_GANG(N,V...)  NUM_AXIS_GANG(V) GANG_ITEM_E(N)
+#define LOGICAL_AXIS_CODE(N,V...)  NUM_AXIS_CODE(V) CODE_ITEM_E(N)
+#define LOGICAL_AXIS_LIST(N,V...)  NUM_AXIS_LIST(V) LIST_ITEM_E(N)
 #define LOGICAL_AXIS_LIST_1(V)     NUM_AXIS_LIST_1(V) LIST_ITEM_E(V)
-#define LOGICAL_AXIS_ARRAY(E,V...) { LOGICAL_AXIS_LIST(E,V) }
+#define LOGICAL_AXIS_ARRAY(N,V...) { LOGICAL_AXIS_LIST(N,V) }
 #define LOGICAL_AXIS_ARRAY_1(V)    { LOGICAL_AXIS_LIST_1(V) }
-#define LOGICAL_AXIS_ARGS(T)       LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k, T u, T v, T w)
-#define LOGICAL_AXIS_ELEM(O)       LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w)
-#define LOGICAL_AXIS_DECL(T,V)     LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V)
+#define LOGICAL_AXIS_ARGS(T)       LOGICAL_AXIS_LIST(T E, T X, T Y, T Z, T I, T J, T K, T U, T V, T W)
+#define LOGICAL_AXIS_ARGS_LC(T)    LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k, T u, T v, T w)
+#define LOGICAL_AXIS_ELEM(O)       LOGICAL_AXIS_LIST(O.E, O.X, O.Y, O.Z, O.I, O.J, O.K, O.U, O.V, O.W)
+#define LOGICAL_AXIS_ELEM_LC(O)    LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w)
+#define LOGICAL_AXIS_DECL(T,V)     LOGICAL_AXIS_LIST(T E=V, T X=V, T Y=V, T Z=V, T I=V, T J=V, T K=V, T U=V, T V=V, T W=V)
+#define LOGICAL_AXIS_DECL_LC(T,V)  LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V)
 #define LOGICAL_AXIS_NAMES         LOGICAL_AXIS_LIST(E, X, Y, Z, I, J, K, U, V, W)
 #define LOGICAL_AXIS_NAMES_LC      LOGICAL_AXIS_LIST(e, x, y, z, i, j, k, u, v, w)
 #define LOGICAL_AXIS_MAP(F)        MAP(F, LOGICAL_AXIS_NAMES)
@@ -68,8 +74,8 @@ template <class L, class R> struct IF<true, L, R> { typedef L type; };
  #define NUM_AXES_SEP ,
  #define MAIN_AXIS_MAP(F)    MAP(F, MAIN_AXIS_NAMES)
  #define MAIN_AXIS_MAP_LC(F) MAP(F, MAIN_AXIS_NAMES_LC)
-  #define OPTARGS_NUM(T)      , NUM_AXIS_ARGS(T)
-  #define OPTARGS_LOGICAL(T)  , LOGICAL_AXIS_ARGS(T)
+  #define OPTARGS_NUM(T)      , NUM_AXIS_ARGS_LC(T)
+  #define OPTARGS_LOGICAL(T)  , LOGICAL_AXIS_ARGS_LC(T)
 #else
  #define NUM_AXES_SEP
  #define MAIN_AXIS_MAP(F)
@@ -81,8 +87,8 @@ template <class L, class R> struct IF<true, L, R> { typedef L type; };
 #define NUM_AXIS_GANG_(V...)    NUM_AXIS_GANG(V) NUM_AXES_SEP
 #define NUM_AXIS_LIST_(V...)    NUM_AXIS_LIST(V) NUM_AXES_SEP
 #define NUM_AXIS_LIST_1_(V...)  NUM_AXIS_LIST_1(V) NUM_AXES_SEP
-#define NUM_AXIS_ARGS_(T)       NUM_AXIS_ARGS(T) NUM_AXES_SEP
-#define NUM_AXIS_ELEM_(T)       NUM_AXIS_ELEM(T) NUM_AXES_SEP
+#define NUM_AXIS_ARGS_(T)       NUM_AXIS_ARGS_LC(T) NUM_AXES_SEP
+#define NUM_AXIS_ELEM_(T)       NUM_AXIS_ELEM_LC(T) NUM_AXES_SEP
 #define MAIN_AXIS_NAMES_        MAIN_AXIS_NAMES NUM_AXES_SEP
 #define MAIN_AXIS_NAMES_LC_     MAIN_AXIS_NAMES_LC NUM_AXES_SEP

@@ -95,15 +101,26 @@ template <class L, class R> struct IF<true, L, R> { typedef L type; };
 #define LOGICAL_AXIS_GANG_(V...)    LOGICAL_AXIS_GANG(V) LOGICAL_AXES_SEP
 #define LOGICAL_AXIS_LIST_(V...)    LOGICAL_AXIS_LIST(V) LOGICAL_AXES_SEP
 #define LOGICAL_AXIS_LIST_1_(V...)  LOGICAL_AXIS_LIST_1(V) LOGICAL_AXES_SEP
-#define LOGICAL_AXIS_ARGS_(T)       LOGICAL_AXIS_ARGS(T) LOGICAL_AXES_SEP
+#define LOGICAL_AXIS_ARGS_(T)       LOGICAL_AXIS_ARGS_LC(T) LOGICAL_AXES_SEP
 #define LOGICAL_AXIS_ELEM_(T)       LOGICAL_AXIS_ELEM(T) LOGICAL_AXES_SEP
+#define LOGICAL_AXIS_ELEM_LC_(T)    LOGICAL_AXIS_ELEM_LC(T) LOGICAL_AXES_SEP
 #define LOGICAL_AXIS_NAMES_         LOGICAL_AXIS_NAMES LOGICAL_AXES_SEP
 #define LOGICAL_AXIS_NAMES_LC_      LOGICAL_AXIS_NAMES_LC LOGICAL_AXES_SEP

 #define SECONDARY_AXIS_GANG(V...) GANG_N(SECONDARY_AXES, V)
 #define SECONDARY_AXIS_CODE(V...) CODE_N(SECONDARY_AXES, V)
 #define SECONDARY_AXIS_LIST(V...) LIST_N(SECONDARY_AXES, V)
-#define SECONDARY_AXIS_ARGS(T)    SECONDARY_AXIS_LIST(T i, T j, T k, T u, T v, T w)
+#if SECONDARY_AXES
+  #define SECONDARY_AXIS_NAMES      SECONDARY_AXIS_LIST(I, J, K, U, V, W)
+  #define SECONDARY_AXIS_NAMES_LC   SECONDARY_AXIS_LIST(i, j, k, u, v, w)
+  #define SECONDARY_AXIS_ARGS(T)    SECONDARY_AXIS_LIST(T I, T J, T K, T U, T V, T W)
+  #define SECONDARY_AXIS_ARGS_LC(T) SECONDARY_AXIS_LIST(T i, T j, T k, T u, T v, T w)
+  #define SECONDARY_AXIS_MAP(F)     MAP(F, SECONDARY_AXIS_NAMES)
+  #define SECONDARY_AXIS_MAP_LC(F)  MAP(F, SECONDARY_AXIS_NAMES_LC)
+#else
+  #define SECONDARY_AXIS_MAP(F)
+  #define SECONDARY_AXIS_MAP_LC(F)
+#endif

 // Just the XY or XYZ elements
 #if HAS_Z_AXIS
@@ -159,36 +176,90 @@ template <class L, class R> struct IF<true, L, R> { typedef L type; };
 #define FI FORCE_INLINE

 // Define types based on largest bit width stored value required
-#define bits_t(W)   typename IF<((W)>   16), uint32_t, typename IF<((W)>  8), uint16_t, uint8_t>::type>::type
+#define bits_t(W)   typename IF<((W)>   32), uint64_t, typename IF<((W)> 16), uint32_t, typename IF<((W)>8), uint16_t, uint8_t>::type>::type>::type
 #define uvalue_t(V) typename IF<((V)>65535), uint32_t, typename IF<((V)>255), uint16_t, uint8_t>::type>::type
 #define value_t(V)  typename IF<((V)>32767),  int32_t, typename IF<((V)>127),  int16_t,  int8_t>::type>::type

-// General Flags for some number of states
+// Define a template for a bit field of N bits, using the smallest type that can hold N bits
+template<size_t N, bool UseArray = (N > 64)>
+struct Flags;
+
+// Flag bits for <= 64 states
 template<size_t N>
-struct Flags {
+struct Flags<N, false> {
  typedef bits_t(N) flagbits_t;
-  typedef struct { bool b0:1, b1:1, b2:1, b3:1, b4:1, b5:1, b6:1, b7:1; } N8;
-  typedef struct { bool b0:1, b1:1, b2:1, b3:1, b4:1, b5:1, b6:1, b7:1, b8:1, b9:1, b10:1, b11:1, b12:1, b13:1, b14:1, b15:1; } N16;
-  typedef struct { bool b0:1,  b1:1,  b2:1,  b3:1,  b4:1,  b5:1,  b6:1,  b7:1,  b8:1,  b9:1, b10:1, b11:1, b12:1, b13:1, b14:1, b15:1,
-                       b16:1, b17:1, b18:1, b19:1, b20:1, b21:1, b22:1, b23:1, b24:1, b25:1, b26:1, b27:1, b28:1, b29:1, b30:1, b31:1; } N32;
-  union {
-    flagbits_t b;
-    typename IF<(N>16), N32, typename IF<(N>8), N16, N8>::type>::type flag;
+  flagbits_t b;
+
+  class BitProxy {
+  public:
+    BitProxy(flagbits_t& data, int bit) : data_(data), bit_(bit) {}
+
+    BitProxy& operator=(const bool value) {
+      if (value)
+        data_ |=  (flagbits_t(1) << bit_);
+      else
+        data_ &= ~(flagbits_t(1) << bit_);
+      return *this;
+    }
+
+    operator bool() const { return bool(data_ & (flagbits_t(1) << bit_)); }
+
+  private:
+    flagbits_t& data_;
+    uint8_t bit_;
  };
+
  FI void reset()                            { b = 0; }
  FI void set(const int n, const bool onoff) { onoff ? set(n) : clear(n); }
-  FI void set(const int n)                   { b |=  (flagbits_t)_BV(n); }
-  FI void clear(const int n)                 { b &= ~(flagbits_t)_BV(n); }
-  FI bool test(const int n) const            { return TEST(b, n); }
-  FI bool operator[](const int n)            { return test(n); }
+  FI void set(const int n)                   { b |=  (flagbits_t(1) << n); }
+  FI void clear(const int n)                 { b &= ~(flagbits_t(1) << n); }
+  FI bool test(const int n) const            { return bool(b & (flagbits_t(1) << n)); }
+  FI BitProxy operator[](const int n)        { return BitProxy(b, n); }
  FI bool operator[](const int n) const      { return test(n); }
  FI int size() const                        { return sizeof(b); }
-  FI operator bool() const                   { return b; }
+  FI operator bool() const                   { return b != 0; }
+};
+
+// Flag bits for more than 64 states
+template<size_t N>
+struct Flags<N, true> {
+  uint8_t bitmask[(N+7)>>3];
+  // Proxy class for handling bit assignment
+  class BitProxy {
+  public:
+    BitProxy(uint8_t data[], int n) : data_(data[n >> 3]), bit_(n & 7) {}
+
+    // Assignment operator
+    BitProxy& operator=(const bool value) {
+      if (value)
+        data_ |=  _BV(bit_);
+      else
+        data_ &= ~_BV(bit_);
+      return *this;
+    }
+
+    // Conversion operator to bool
+    operator bool() const { return TEST(data_, bit_); }
+
+  private:
+    uint8_t& data_;
+    uint8_t bit_;
+  };
+
+  FI void reset()                            { for (uint8_t b = 0; b < sizeof(bitmask); ++b) bitmask[b] = 0; }
+  FI void set(const int n, const bool onoff) { onoff ? set(n) : clear(n); }
+  FI void set(const int n)                   { bitmask[n >> 3] |=  _BV(n & 7); }
+  FI void clear(const int n)                 { bitmask[n >> 3] &= ~_BV(n & 7); }
+  FI bool test(const int n) const            { return TEST(bitmask[n >> 3], n & 7); }
+  FI BitProxy operator[](const int n)        { return BitProxy(bitmask, n); }
+  FI bool operator[](const int n) const      { return test(n); }
+  FI int size() const                        { return sizeof(bitmask); }
+  FI operator bool() const                   { for (uint8_t b : bitmask) if (b) return true; return false; }
 };

 // Specialization for a single bool flag
 template<>
-struct Flags<1> {
+struct Flags<1, false> {
  bool b;
  FI void reset()                            { b = false; }
  FI void set(const int n, const bool onoff) { onoff ? set(n) : clear(n); }
@@ -218,7 +289,7 @@ typedef struct {
  FI bool operator[](const int n)            { return flags[n]; }
  FI bool operator[](const int n) const      { return flags[n]; }
  FI int size() const                        { return sizeof(flags); }
-  FI operator bool() const                   { return flags; }
+  FI operator bool() const                   { return (bool)flags; }
 } AxisFlags;

 //
@@ -243,7 +314,7 @@ enum AxisEnum : uint8_t {
  #endif

  // Distinct axes, including all E and Core
-  NUM_AXIS_ENUMS,
+  NUM_AXIS_HEADS,

  // Most of the time we refer only to the single E_AXIS
  #if HAS_EXTRUDERS
@@ -428,7 +499,9 @@ template<typename T>
 struct XYval {
  union {
    struct { T x, y; };
+    struct { T X, Y; };
    struct { T a, b; };
+    struct { T A, B; };
    T pos[2];
  };

@@ -554,7 +627,9 @@ struct XYZval {
  union {
    #if NUM_AXES
      struct { NUM_AXIS_CODE(T x, T y, T z, T i, T j, T k, T u, T v, T w); };
+      struct { NUM_AXIS_CODE(T X, T Y, T Z, T I, T J, T K, T U, T V, T W); };
      struct { NUM_AXIS_CODE(T a, T b, T c, T _i, T _j, T _k, T _u, T _v, T _w); };
+      struct { NUM_AXIS_CODE(T A, T B, T C, T II, T JJ, T KK, T UU, T VV, T WW); };
    #endif
    T pos[NUM_AXES];
  };
@@ -568,14 +643,14 @@ struct XYZval {
  FI void set(const T (&arr)[NUM_AXES])          { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
  #if LOGICAL_AXES > NUM_AXES
    FI void set(const T (&arr)[LOGICAL_AXES])    { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
-    FI void set(LOGICAL_AXIS_ARGS(const T))      { NUM_AXIS_CODE(a = x,  b = y,  c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
+    FI void set(LOGICAL_AXIS_ARGS_LC(const T))   { NUM_AXIS_CODE(a = x,  b = y,  c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
    #if DISTINCT_AXES > LOGICAL_AXES
      FI void set(const T (&arr)[DISTINCT_AXES]) { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
    #endif
  #endif

  // Setter for all individual args
-  FI void set(NUM_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
+  FI void set(NUM_AXIS_ARGS_LC(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }

  // Setters with fewer elements leave the rest untouched
  #if HAS_Y_AXIS
@@ -641,7 +716,7 @@ struct XYZval {
  // Assignment operator overrides do the expected thing
  FI XYZval<T>& operator= (const T v)            { set(ARRAY_N_1(NUM_AXES, v)); return *this; }
  FI XYZval<T>& operator= (const XYval<T>   &rs) { set(rs.x, rs.y); return *this; }
-  FI XYZval<T>& operator= (const XYZEval<T> &rs) { set(NUM_AXIS_ELEM(rs)); return *this; }
+  FI XYZval<T>& operator= (const XYZEval<T> &rs) { set(NUM_AXIS_ELEM_LC(rs)); return *this; }

  // Override other operators to get intuitive behaviors
  FI constexpr XYZval<T> operator+ (const XYval<T>   &rs) const { return NUM_AXIS_ARRAY(x + rs.x, y + rs.y, z, i, j, k, u, v, w ); }
@@ -700,8 +775,10 @@ struct XYZval {
 template<typename T>
 struct XYZEval {
  union {
+    struct { T LOGICAL_AXIS_ARGS_LC(); };
    struct { T LOGICAL_AXIS_ARGS(); };
    struct { T LOGICAL_AXIS_LIST(_e, a, b, c, _i, _j, _k, _u, _v, _w); };
+    struct { T LOGICAL_AXIS_LIST(EE, A, B, C, II, JJ, KK, UU, VV, WW); };
    T pos[LOGICAL_AXES];
  };
  // Reset all to 0
@@ -710,20 +787,20 @@ struct XYZEval {
  // Setters taking struct types and arrays
  FI void set(const XYval<T> pxy)                           { XY_CODE(x = pxy.x, y = pxy.y); }
  FI void set(const XYval<T> pxy, const T pz)               { XYZ_CODE(x = pxy.x, y = pxy.y, z = pz); }
-  FI void set(const XYZval<T> pxyz)                         { set(NUM_AXIS_ELEM(pxyz)); }
+  FI void set(const XYZval<T> pxyz)                         { set(NUM_AXIS_ELEM_LC(pxyz)); }
  FI void set(const T (&arr)[NUM_AXES])                     { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
  #if LOGICAL_AXES > NUM_AXES
    FI void set(const T (&arr)[LOGICAL_AXES])               { LOGICAL_AXIS_CODE(e = arr[LOGICAL_AXES-1], x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
    FI void set(const XYval<T> pxy, const T pz, const T pe) { set(pxy, pz); e = pe; }
    FI void set(const XYZval<T> pxyz, const T pe)           { set(pxyz); e = pe; }
-    FI void set(LOGICAL_AXIS_ARGS(const T))                 { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
+    FI void set(LOGICAL_AXIS_ARGS_LC(const T))              { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
    #if DISTINCT_AXES > LOGICAL_AXES
      FI void set(const T (&arr)[DISTINCT_AXES])            { LOGICAL_AXIS_CODE(e = arr[LOGICAL_AXES-1], x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); }
    #endif
  #endif

  // Setter for all individual args
-  FI void set(NUM_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }
+  FI void set(NUM_AXIS_ARGS_LC(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); }

  // Setters with fewer elements leave the rest untouched
  #if HAS_Y_AXIS
@@ -788,7 +865,7 @@ struct XYZEval {
  // Assignment operator overrides do the expected thing
  FI XYZEval<T>& operator= (const T v)           { set(LOGICAL_AXIS_LIST_1(v)); return *this; }
  FI XYZEval<T>& operator= (const XYval<T>  &rs) { set(rs.x, rs.y); return *this; }
-  FI XYZEval<T>& operator= (const XYZval<T> &rs) { set(NUM_AXIS_ELEM(rs)); return *this; }
+  FI XYZEval<T>& operator= (const XYZval<T> &rs) { set(NUM_AXIS_ELEM_LC(rs)); return *this; }

  // Override other operators to get intuitive behaviors
  FI constexpr XYZEval<T> operator+ (const XYval<T>  &rs)  const { return LOGICAL_AXIS_ARRAY(e, x + rs.x, y + rs.y, z, i, j, k, u, v, w); }
@@ -848,7 +925,9 @@ struct XYZarray {
  union {
    el data[LOGICAL_AXES];
    struct { NUM_AXIS_CODE(T x, T y, T z, T i, T j, T k, T u, T v, T w); };
+    struct { NUM_AXIS_CODE(T X, T Y, T Z, T I, T J, T K, T U, T V, T W); };
    struct { NUM_AXIS_CODE(T a, T b, T c, T _i, T _j, T _k, T _u, T _v, T _w); };
+    struct { NUM_AXIS_CODE(T A, T B, T C, T II, T JJ, T KK, T UU, T VV, T WW); };
  };
  FI void reset() { ZERO(data); }

@@ -894,6 +973,8 @@ struct XYZEarray {
  union {
    el data[LOGICAL_AXES];
    struct { el LOGICAL_AXIS_ARGS(); };
+    struct { el LOGICAL_AXIS_ARGS_LC(); };
+    struct { el LOGICAL_AXIS_LIST(EE, A, B, C, II, JJ, KK, UU, VV, WW); };
    struct { el LOGICAL_AXIS_LIST(_e, a, b, c, _i, _j, _k, _u, _v, _w); };
  };
  FI void reset() { ZERO(data); }
@@ -905,7 +986,7 @@ struct XYZEarray {
  // Setter for all individual args
  FI void set(const int n OPTARGS_NUM(const T)) { NUM_AXIS_CODE(a[n] = x, b[n] = y, c[n] = z, _i[n] = i, _j[n] = j, _k[n] = k, _u[n] = u, _v[n] = v, _w[n] = w); }
  #if LOGICAL_AXES > NUM_AXES
-    FI void set(const int n, LOGICAL_AXIS_ARGS(const T)) { LOGICAL_AXIS_CODE(_e[n] = e, a[n] = x, b[n] = y, c[n] = z, _i[n] = i, _j[n] = j, _k[n] = k, _u[n] = u, _v[n] = v, _w[n] = w); }
+    FI void set(const int n, LOGICAL_AXIS_ARGS_LC(const T)) { LOGICAL_AXIS_CODE(_e[n] = e, a[n] = x, b[n] = y, c[n] = z, _i[n] = i, _j[n] = j, _k[n] = k, _u[n] = u, _v[n] = v, _w[n] = w); }
  #endif

  // Setters with fewer elements leave the rest untouched
@@ -941,7 +1022,7 @@ class AxisBits;

 class AxisBits {
 public:
-  typedef bits_t(NUM_AXIS_ENUMS) el;
+  typedef bits_t(NUM_AXIS_HEADS) el;
  union {
    el bits;
    // Axes x, y, z ... e0, e1, e2 ... hx, hy, hz
@@ -994,6 +1075,25 @@ public:
    };
  };

+  class BitProxy {
+  public:
+    BitProxy(el& data, int bit) : data_(data), bit_(bit) {}
+
+    BitProxy& operator=(const bool value) {
+      if (value)
+        data_ |=  (el(1) << bit_);
+      else
+        data_ &= ~(el(1) << bit_);
+      return *this;
+    }
+
+    operator bool() const { return bool(data_ & (el(1) << bit_)); }
+
+  private:
+    el& data_;
+    uint8_t bit_;
+  };
+
  AxisBits() { reset(); }

  // Constructor, setter, and operator= for bit mask
@@ -1002,7 +1102,7 @@ public:
  FI AxisBits& operator=(const el p) { set(p); return *this; }

  FI void reset() { set(0); }
-  FI void fill() { set(_BV(NUM_AXIS_ENUMS) - 1); }
+  FI void fill() { set(_BV(NUM_AXIS_HEADS) - 1); }

  #define MSET(pE,pX,pY,pZ,pI,pJ,pK,pU,pV,pW) LOGICAL_AXIS_CODE(e=pE, x=pX, y=pY, z=pZ, i=pI, j=pJ, k=pK, u=pU, v=pV, w=pW)

@@ -1094,7 +1194,9 @@ public:
  FI void bset(const AxisEnum n, const bool b) { if (b) bset(n); else bclr(n); }

  // Accessor via an AxisEnum (or any integer) [index]
-  FI bool operator[](const int n) const { return TEST(bits, n); }
+  FI BitProxy operator[](const int n)        { return BitProxy(bits, n); }
+  FI BitProxy operator[](const AxisEnum n)   { return BitProxy(bits, n); }
+  FI bool operator[](const int n)      const { return TEST(bits, n); }
  FI bool operator[](const AxisEnum n) const { return TEST(bits, n); }

  FI AxisBits& operator|=(const el &p) { bits |= el(p); return *this; }
@@ -146,9 +146,9 @@ public:
    transfer_timeout = millis() + TIMEOUT;
    switch (static_cast<FileTransfer>(packet_type)) {
      case FileTransfer::QUERY:
-        SERIAL_ECHOPGM("PFT:version:", VERSION_MAJOR, ".", VERSION_MINOR, ".", VERSION_PATCH);
+        SERIAL_ECHO(F("PFT:version:"), VERSION_MAJOR, C('.'), VERSION_MINOR, C('.'), VERSION_PATCH);
        #if ENABLED(BINARY_STREAM_COMPRESSION)
-          SERIAL_ECHOLNPGM(":compression:heatshrink,", HEATSHRINK_STATIC_WINDOW_BITS, ",", HEATSHRINK_STATIC_LOOKAHEAD_BITS);
+          SERIAL_ECHOLN(F(":compression:heatshrink,"), HEATSHRINK_STATIC_WINDOW_BITS, C(','), HEATSHRINK_STATIC_LOOKAHEAD_BITS);
        #else
          SERIAL_ECHOLNPGM(":compression:none");
        #endif
@@ -322,7 +322,7 @@ public:
            if (packet.header.checksum == packet.header_checksum) {
              // The SYNC control packet is a special case in that it doesn't require the stream sync to be correct
              if (static_cast<Protocol>(packet.header.protocol()) == Protocol::CONTROL && static_cast<ProtocolControl>(packet.header.type()) == ProtocolControl::SYNC) {
-                  SERIAL_ECHOLNPGM("ss", sync, ",", buffer_size, ",", VERSION_MAJOR, ".", VERSION_MINOR, ".", VERSION_PATCH);
+                  SERIAL_ECHOLN(F("ss"), sync, C(','), buffer_size, C(','), VERSION_MAJOR, C('.'), VERSION_MINOR, C('.'), VERSION_PATCH);
                  stream_state = StreamState::PACKET_RESET;
                  break;
              }
@@ -83,7 +83,7 @@ void LEDLights::setup() {
            if (i == 1 && PWM_PIN(RGB_LED_G_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_G_PIN), led_pwm); else WRITE(RGB_LED_G_PIN, b < 100 ? HIGH : LOW);
            if (i == 2 && PWM_PIN(RGB_LED_B_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_B_PIN), led_pwm); else WRITE(RGB_LED_B_PIN, b < 100 ? HIGH : LOW);
            #if ENABLED(RGBW_LED)
-              if (i == 3){
+              if (i == 3) {
                if (PWM_PIN(RGB_LED_W_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_W_PIN), led_pwm);
                else WRITE(RGB_LED_W_PIN, b < 100 ? HIGH : LOW);
                delay(RGB_STARTUP_TEST_INNER_MS);//More slowing for ending
@@ -148,7 +148,7 @@ void PCA9632_set_led_color(const LEDColor &color) {

 #if ENABLED(PCA9632_BUZZER)

-  void PCA9632_buzz(const long, const uint16_t=0) {
+  void PCA9632_buzz(const long, const uint16_t/*=0*/) {
    uint8_t data[] = PCA9632_BUZZER_DATA;
    Wire.beginTransmission(I2C_ADDRESS(PCA9632_ADDRESS));
    Wire.write(data, sizeof(data));
@@ -526,7 +526,7 @@ inline void beep_bad_cmd() { BUZZ(400, 40); }

      switch (*special) {
        case '?': {
-          #if ENABLED(MMU2_MENUS)
+          #if ENABLED(MMU_MENUS)
            const uint8_t index = mmu2_choose_filament();
            while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
            load_to_nozzle(index);
@@ -536,7 +536,7 @@ inline void beep_bad_cmd() { BUZZ(400, 40); }
        } break;

        case 'x': {
-          #if ENABLED(MMU2_MENUS)
+          #if ENABLED(MMU_MENUS)
            planner.synchronize();
            const uint8_t index = mmu2_choose_filament();
            stepper.disable_extruder();
@@ -614,7 +614,7 @@ inline void beep_bad_cmd() { BUZZ(400, 40); }
    switch (*special) {
      case '?': {
        DEBUG_ECHOLNPGM("case ?\n");
-        #if ENABLED(MMU2_MENUS)
+        #if ENABLED(MMU_MENUS)
          uint8_t index = mmu2_choose_filament();
          while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
          load_to_nozzle(index);
@@ -625,7 +625,7 @@ inline void beep_bad_cmd() { BUZZ(400, 40); }

      case 'x': {
        DEBUG_ECHOLNPGM("case x\n");
-        #if ENABLED(MMU2_MENUS)
+        #if ENABLED(MMU_MENUS)
          planner.synchronize();
          uint8_t index = mmu2_choose_filament();
          stepper.disable_extruder();
@@ -729,7 +729,7 @@ inline void beep_bad_cmd() { BUZZ(400, 40); }
    switch (*special) {
      case '?': {
        DEBUG_ECHOLNPGM("case ?\n");
-        #if ENABLED(MMU2_MENUS)
+        #if ENABLED(MMU_MENUS)
          uint8_t index = mmu2_choose_filament();
          while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
          load_to_nozzle(index);
@@ -740,7 +740,7 @@ inline void beep_bad_cmd() { BUZZ(400, 40); }

      case 'x': {
        DEBUG_ECHOLNPGM("case x\n");
-        #if ENABLED(MMU2_MENUS)
+        #if ENABLED(MMU_MENUS)
          planner.synchronize();
          uint8_t index = mmu2_choose_filament();
          stepper.disable_extruder();
@@ -0,0 +1,73 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * SpoolJoin.cpp
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_PRUSA_MMU3
+
+#include "SpoolJoin.h"
+#include "../../module/settings.h"
+#include "../../core/language.h"
+
+SpoolJoin spooljoin;
+
+bool SpoolJoin::enabled;            // Initialized by settings.load
+int SpoolJoin::epprom_addr;         // Initialized by settings.load
+uint8_t SpoolJoin::currentMMUSlot;
+
+SpoolJoin::SpoolJoin() { setSlot(0); }
+
+void SpoolJoin::initStatus() {
+  // Useful information to see during bootup
+  SERIAL_ECHOLN(F("SpoolJoin is "), enabled ? F("On") : F("Off"));
+}
+
+void SpoolJoin::toggle() {
+  // Toggle enabled value.
+  enabled = !enabled;
+
+  // Following Prusa's implementation let's save the value to the EEPROM
+  // TODO: Move to settings.cpp
+  #if ENABLED(EEPROM_SETTINGS)
+    persistentStore.access_start();
+    persistentStore.write_data(epprom_addr, enabled);
+    persistentStore.access_finish();
+    settings.save();
+  #endif
+}
+
+bool SpoolJoin::isEnabled() { return enabled; }
+
+void SpoolJoin::setSlot(const uint8_t slot) { currentMMUSlot = slot; }
+
+uint8_t SpoolJoin::nextSlot() {
+  SERIAL_ECHOPGM("SpoolJoin: ", currentMMUSlot);
+  if (++currentMMUSlot >= 4) currentMMUSlot = 0;
+  SERIAL_ECHOLNPGM(" -> ", currentMMUSlot);
+  return currentMMUSlot;
+}
+
+#endif // HAS_PRUSA_MMU3
@@ -0,0 +1,72 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * SpoolJoin.h
+ */
+
+#include "../../MarlinCore.h"
+
+#include <stdint.h>
+
+// See documentation here: https://help.prusa3d.com/article/spooljoin-mmu2s_134252
+
+class SpoolJoin {
+public:
+  SpoolJoin();
+
+  enum class EEPROM : uint8_t {
+    Unknown,      //!< SpoolJoin is unknown while printer is booting up
+    Enabled,      //!< SpoolJoin is enabled in EEPROM
+    Disabled,     //!< SpoolJoin is disabled in EEPROM
+    Empty = 0xFF  //!< EEPROM has not been set before and all bits are 1 (0xFF) - either a new printer or user erased the memory
+  };
+
+  // @brief Contrary to Prusa's implementation we store the enabled status in a variable
+  static int epprom_addr;
+  static bool enabled;
+
+  // @brief Called when EEPROM is ready to be read
+  static void initStatus();
+
+  // @brief Toggle SpoolJoin
+  static void toggle();
+
+  // @brief Check if SpoolJoin is enabled
+  // @return true if enabled, false if disabled
+  static bool isEnabled();
+
+  // @brief Update the saved MMU slot number so SpoolJoin can determine the next slot to use
+  // @param slot number of the slot to set
+  static void setSlot(const uint8_t slot);
+
+  // @brief Fetch the next slot number (0 to 4).
+  // When filament slot 4 is depleted, the next slot should be 0.
+  // @return the next slot (0 to 4)
+  static uint8_t nextSlot();
+
+private:
+  static uint8_t currentMMUSlot;   //!< Currently used slot (0 to 4)
+};
+
+extern SpoolJoin spooljoin;
@@ -0,0 +1,419 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2.h
+ */
+
+#include "mmu2_state.h"
+#include "mmu2_marlin.h"
+
+#include "mmu2_protocol_logic.h"
+
+#include "../../MarlinCore.h"
+
+  #ifdef __AVR__
+    typedef float feedRate_t;
+  #else
+    //#include <atomic>
+  #endif
+
+  struct E_Step {
+    float extrude;  //!< extrude distance in mm
+    float feedRate; //!< feed rate in mm/s
+  };
+
+  static constexpr E_Step ramming_sequence[] PROGMEM = { MMU2_RAMMING_SEQUENCE };
+  static constexpr E_Step load_to_nozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE };
+
+  namespace MMU3 {
+
+  // general MMU setup for MK3
+  enum : uint8_t {
+    FILAMENT_UNKNOWN = 0xFFU
+  };
+
+  struct Version {
+    uint8_t major, minor, build;
+  };
+
+  // Top-level interface between Logic and Marlin.
+  // Intentionally named MMU3 to be (almost) a drop-in replacement for the previous implementation.
+  // Most of the public methods share the original naming convention as well.
+  class MMU3 {
+  public:
+    MMU3();
+
+    // Powers ON the MMU, then initializes the UART and protocol logic
+    void start();
+
+    // Stops the protocol logic, closes the UART, powers OFF the MMU
+    void stop();
+
+    // Serial output of MMU state
+    void status();
+
+    xState state() const { return _state; }
+
+    bool enabled() const { mmu_hw_enabled = state() == xState::Active; return mmu_hw_enabled; }
+
+    // Different levels of resetting the MMU
+    enum ResetForm : uint8_t {
+      Software = 0,   //!< sends a X0 command into the MMU, the MMU will watchdog-reset itself
+      ResetPin = 1,   //!< trigger the reset pin of the MMU
+      CutThePower = 2, //!< power off and power on (that includes +5V and +24V power lines)
+      EraseEEPROM = 42, //!< erase MMU EEPROM and then perform a software reset
+    };
+
+    // Saved print state on error.
+    enum SavedState : uint8_t {
+      None = 0,       // No state saved.
+      ParkExtruder = 1, // The extruder was parked.
+      Cooldown = 2,   // The extruder was allowed to cool.
+      CooldownPending = 4,
+    };
+
+    // Source of operation error
+    enum ErrorSource : uint8_t {
+      ErrorSourcePrinter = 0,
+      ErrorSourceMMU = 1,
+      ErrorSourceNone = 0xFF,
+    };
+
+    // Tune value in MMU registers as a way to recover from errors
+    // e.g. Idler Stallguard threshold
+    void tune();
+
+    // Perform a reset of the MMU
+    // @param level physical form of the reset
+    void reset(ResetForm level);
+
+    // Power off the MMU (cut the power)
+    void powerOff();
+
+    // Power on the MMU
+    void powerOn();
+
+    // Read from a MMU register (See gcode M707)
+    // @param address Address of register in hexidecimal
+    // @return true upon success
+    bool readRegister(uint8_t address);
+
+    // Write from a MMU register (See gcode M708)
+    // @param address Address of register in hexidecimal
+    // @param data Data to write to register
+    // @return true upon success
+    bool writeRegister(uint8_t address, uint16_t data);
+
+    // The main loop of MMU processing.
+    // Doesn't loop (block) inside, performs just one step of logic state machines.
+    // Also, internally it prevents recursive entries.
+    void mmu_loop();
+
+    // The main MMU command - select a different slot
+    // @param slot of the slot to be selected
+    // @return false if the operation cannot be performed (Stopped)
+    bool tool_change(uint8_t slot);
+
+    // Handling of special Tx, Tc, T? commands
+    bool tool_change(char code, uint8_t slot);
+
+    // Unload of filament in collaboration with the MMU.
+    // That includes rotating the printer's extruder in order to release filament.
+    // @return false if the operation cannot be performed (Stopped or cold extruder)
+    bool unload();
+
+    // Load (insert) filament just into the MMU (not into printer's nozzle)
+    // @return false if the operation cannot be performed (Stopped)
+    bool load_to_feeder(uint8_t slot);
+
+    // Load (push) filament from the MMU into the printer's nozzle
+    // @return false if the operation cannot be performed (Stopped or cold extruder)
+    bool load_to_nozzle(uint8_t slot);
+
+    // Move MMU's selector aside and push the selected filament forward.
+    // Usable for improving filament's tip or pulling the remaining piece of filament out completely.
+    bool eject_filament(uint8_t slot, bool enableFullScreenMsg=true);
+
+    // Issue a Cut command into the MMU
+    // Requires unloaded filament from the printer (obviously)
+    // @return false if the operation cannot be performed (Stopped)
+    bool cut_filament(uint8_t slot, bool enableFullScreenMsg=true);
+
+    // Issue a planned request for statistics data from MMU
+    void get_statistics();
+
+    // Issue a Try-Load command
+    // It behaves very similarly like a ToolChange, but it doesn't load the filament
+    // all the way down to the nozzle. The sole purpose of this operation
+    // is to check, that the filament will be ready for printing.
+    // @param slot index of slot to be tested
+    // @return true
+    bool loading_test(uint8_t slot);
+
+    // @return the active filament slot index (0-4) or 0xff in case of no active tool
+    uint8_t get_current_tool() const;
+
+    // @return The filament slot index (0 to 4) that will be loaded next, 0xff in case of no active tool change
+    uint8_t get_tool_change_tool() const;
+
+    bool set_filament_type(uint8_t slot, uint8_t type);
+
+    // Issue a "button" click into the MMU - to be used from Error screens of the MMU
+    // to select one of the 3 possible options to resolve the issue
+    void button(uint8_t index);
+
+    // Issue an explicit "homing" command into the MMU
+    void home(uint8_t mode);
+
+    // @return current state of FINDA (true=filament present, false=filament not present)
+    bool findaDetectsFilament() const { return logic.findaPressed(); }
+
+    uint16_t totalFailStatistics() const { return logic.FailStatistics(); }
+
+    // @return Current error code
+    ErrorCode mmuCurrentErrorCode() const { return logic.Error(); }
+
+    // @return Command in progress
+    uint8_t getCommandInProgress() const { return logic.CommandInProgress(); }
+
+    // @return Last error source
+    ErrorSource mmuLastErrorSource() const { return lastErrorSource; }
+
+    // @return Last error code
+    ErrorCode getLastErrorCode() const { return lastErrorCode; }
+
+    // @return the version of the connected MMU FW.
+    // In the future we'll return the trully detected FW version
+    Version getMMUFWVersion() const {
+      if (state() == xState::Active) {
+        return { logic.mmuFwVersionMajor(), logic.mmuFwVersionMinor(), logic.mmuFwVersionRevision() };
+      }
+      else {
+        return { 0, 0, 0 };
+      }
+    }
+
+    // Method to read-only mmu_print_saved
+    bool MMU_PRINT_SAVED() const { return mmu_print_saved != SavedState::None; }
+
+    // Automagically "press" a Retry button if we have any retry attempts left
+    // @param ec ErrorCode enum value
+    // @return true if auto-retry is ongoing, false when retry is unavailable or retry attempts are all used up
+    bool retryIfPossible(const ErrorCode ec);
+
+    // @return count for toolchange in current print
+    uint16_t toolChangeCounter() const { return toolchange_counter; }
+
+    // Set toolchange counter to zero
+    void resetToolChangeCounter() { toolchange_counter = 0; }
+
+    uint16_t tmcFailures() const { return _tmcFailures; }
+    void incrementTMCFailures() { ++_tmcFailures; }
+    void resetTMCFailures() { _tmcFailures = 0; }
+
+    // Retrieve cached value parsed from readRegister()
+    // or using M707
+    uint16_t getLastReadRegisterValue() const {
+      return lastReadRegisterValue;
+    }
+    void invokeErrorScreen(const ErrorCode ec) {
+      if (logic.CommandInProgress()) return;        // MMU must not be busy
+      if (lastErrorCode == ec) return;              // The error code is not a duplicate
+      if (mmuCurrentErrorCode() == ErrorCode::OK) { // The protocol must not be in error state
+        reportError(ec, ErrorSource::ErrorSourcePrinter);
+      }
+    }
+
+    void clearPrinterError() {
+      logic.clearPrinterError();
+      lastErrorCode = ErrorCode::OK;
+      lastErrorSource = ErrorSource::ErrorSourceNone;
+    }
+
+    // @brief Queue a button operation which the printer can act upon
+    // @param btn Button operation
+    void setPrinterButtonOperation(Buttons btn) {
+      printerButtonOperation = btn;
+    }
+
+    // @brief Get the printer button operation
+    // @return currently set printer button operation, it can be NoButton if nothing is queued
+    Buttons getPrinterButtonOperation() {
+      return printerButtonOperation;
+    }
+
+    void clearPrinterButtonOperation() {
+      printerButtonOperation = Buttons::NoButton;
+    }
+
+    static uint8_t cutter_mode;   // mode 0:disabled | 1:enabled | 2:always (EXPERIMENTAL)
+    static int cutter_mode_addr;  // EEPROM addr for cutter enabled setting
+    static uint8_t stealth_mode;  // stealth mode
+    static int stealth_mode_addr; // EEPROM addr for stealth_mode setting
+    static bool mmu_hw_enabled;   // MMU hardware can be Enabled/Disabled
+                                  // with the M709 S0 or M709 S1 commands
+                                  // and the last state is stored in the
+                                  // EEPROM
+
+    static int mmu_hw_enabled_addr; // EEPROM addr for mmu_hw_enabled
+
+    bool e_active();
+
+    #ifndef UNITTEST
+      private:
+    #endif
+
+    // Perform software self-reset of the MMU (sends an X0 command)
+    void resetX0();
+
+    // Perform software self-reset of the MMU + erase its EEPROM (sends X2a command)
+    void resetX42();
+
+    // Trigger reset pin of the MMU
+    void triggerResetPin();
+
+    // Perform power cycle of the MMU (cold boot)
+    // Please note this is a blocking operation (sleeps for some time inside while doing the power cycle)
+    void powerCycle();
+
+    // Stop the communication, but keep the MMU powered on (for scenarios with incorrect FW version)
+    void stopKeepPowered();
+
+    // Along with the mmu_loop method, this loops until a response from the MMU is received and acts upon.
+    // In case of an error, it parks the print head and turns off nozzle heating
+    // @return false if the command could not have been completed (MMU interrupted)
+    [[nodiscard]] bool manage_response(const bool move_axes, const bool turn_off_nozzle);
+
+    // The inner private implementation of mmu_loop()
+    // which is NOT (!!!) recursion-guarded. Use caution - but we do need it during waiting for hotend resume to keep comms alive!
+    // @param reportErrors true if Errors should raise MMU Error screen, false otherwise
+    void mmu_loop_inner(bool reportErrors);
+
+    // Performs one step of the protocol logic state machine
+    // and reports progress and errors if needed to attached ExtUIs.
+    // Updates the global state of MMU (Active/Connecting/Stopped) at runtime, see @ref State
+    // @param reportErrors true if Errors should raise MMU Error screen, false otherwise
+    StepStatus logicStep(bool reportErrors);
+
+    void filament_ramming();
+    void execute_extruder_sequence(const E_Step *sequence, uint8_t steps);
+    void execute_load_to_nozzle_sequence();
+
+    // Reports an error into attached ExtUIs
+    // @param ec error code, see ErrorCode
+    // @param res reporter error source, is either Printer (0) or MMU (1)
+    void reportError(ErrorCode ec, ErrorSource res);
+
+    // Reports progress of operations into attached ExtUIs
+    // @param pc progress code, see ProgressCode
+    void reportProgress(ProgressCode pc);
+
+    // Responds to a change of MMU's progress
+    // - plans additional steps, e.g. starts the E-motor after fsensor trigger
+    // The function is quite complex, because it needs to handle asynchronnous
+    // progress and error reports coming from the MMU without an explicit command
+    // - typically after MMU's start or after some HW issue on the MMU.
+    // It must ensure, that calls to @ref reportProgress and/or @ref reportError are
+    // only executed after @ref BeginReport has been called first.
+    void onMMUProgressMsg(ProgressCode pc);
+    // Progress code changed - act accordingly
+    void onMMUProgressMsgChanged(ProgressCode pc);
+    // Repeated calls when progress code remains the same
+    void onMMUProgressMsgSame(ProgressCode pc);
+
+    // @brief Save hotend temperature and set flag to cooldown hotend after 60 minutes
+    // @param turn_off_nozzle if true, the hotend temperature will be set to 0degC after 60 minutes
+    void saveHotendTemp(bool turn_off_nozzle);
+
+    // Save print and park the print head
+    void saveAndPark(bool move_axes);
+
+    // Resume hotend temperature, if it was cooled. Safe to call if we aren't saved.
+    void resumeHotendTemp();
+
+    // Resume position, if the extruder was parked. Safe to all if state was not saved.
+    void resumeUnpark();
+
+    // Check for any button/user input coming from the printer's UI
+    void checkUserInput();
+
+    // @brief Check whether to trigger a FINDA runout. If triggered this function will call M600 AUTO
+    // if SpoolJoin is enabled, otherwise M600 is called without AUTO which will prompt the user
+    // for the next filament slot to use
+    void checkFINDARunout();
+
+    // Entry check of all external commands.
+    // It can wait until the MMU becomes ready.
+    // Optionally, it can also emit/display an error screen and the user can decide what to do next.
+    // @return false if the MMU is not ready to perform the command (for whatever reason)
+    bool waitForMMUReady();
+
+    // After MMU completes a tool-change command
+    // the printer will push the filament by a constant distance. If the Fsensor untriggers
+    // at any moment the test fails. Else the test passes, and the E-motor retracts the
+    // filament back to its original position.
+    // @return false if test fails, true otherwise
+    bool verifyFilamentEnteredPTFE();
+
+    // Common processing of pushing filament into the extruder - shared by tool_change, load_to_nozzle and probably others
+    void toolChangeCommon(uint8_t slot);
+    bool toolChangeCommonOnce(uint8_t slot);
+
+    void helpUnloadToFinda();
+    void unloadInner();
+    void cutFilamentInner(uint8_t slot);
+
+    void setCurrentTool(uint8_t ex);
+
+    ProtocolLogic logic;        //!< implementation of the protocol logic layer
+    uint8_t extruder;           //!< currently active slot in the MMU ... somewhat... not sure where to get it from yet
+    uint8_t tool_change_extruder; //!< only used for UI purposes
+
+    xyz_pos_t resume_position;
+    int16_t resume_hotend_temp;
+
+    ProgressCode lastProgressCode = ProgressCode::OK;
+    ErrorCode lastErrorCode = ErrorCode::MMU_NOT_RESPONDING;
+    ErrorSource lastErrorSource = ErrorSource::ErrorSourceNone;
+    Buttons lastButton = Buttons::NoButton;
+    uint16_t lastReadRegisterValue = 0;
+    Buttons printerButtonOperation = Buttons::NoButton;
+
+    StepStatus logicStepLastStatus;
+
+    enum xState _state;
+
+    uint8_t mmu_print_saved;
+    bool loadFilamentStarted;
+    bool unloadFilamentStarted;
+
+    uint16_t toolchange_counter;
+    uint16_t _tmcFailures;
+  };
+
+  } // MMU3
+
+// following Marlin's way of doing stuff - one and only instance of MMU implementation in the code base
+// + avoiding buggy singletons on the AVR platform
+extern MMU3::MMU3 mmu3;
@@ -0,0 +1,53 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * mmu2_crc.cpp
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_PRUSA_MMU3
+
+#include "mmu2_crc.h"
+
+#ifdef __AVR__
+  #include <util/crc16.h>
+#endif
+
+namespace modules {
+
+namespace crc {
+
+uint8_t CRC8::CCITT_update(uint8_t crc, uint8_t b) {
+  #ifdef __AVR__
+    return _crc8_ccitt_update(crc, b);
+  #else
+    return CCITT_updateCX(crc, b);
+  #endif
+}
+
+} // namespace crc
+
+} // namespace modules
+
+#endif // HAS_PRUSA_MMU3
@@ -0,0 +1,73 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2_crc.h
+ */
+
+#include <stdint.h>
+
+namespace modules {
+
+// prevent silly indenting of the whole file
+
+// Contains all the necessary functions for computation of CRC
+namespace crc {
+
+class CRC8 {
+public:
+  // Compute/update CRC8 CCIIT from 8bits.
+  // Details: https://www.nongnu.org/avr-libc/user-manual/group__util__crc.html
+  static uint8_t CCITT_update(uint8_t crc, uint8_t b);
+
+  static constexpr uint8_t CCITT_updateCX(uint8_t crc, uint8_t b) {
+    uint8_t data = crc ^ b;
+    for (uint8_t i = 0; i < 8; i++) {
+      if ((data & 0x80U) != 0) {
+        data <<= 1U;
+        data ^= 0x07U;
+      }
+      else {
+        data <<= 1U;
+      }
+    }
+    return data;
+  }
+
+  // Compute/update CRC8 CCIIT from 16bits (convenience wrapper)
+  static constexpr uint8_t CCITT_updateW(uint8_t crc, uint16_t w) {
+    union U {
+      uint8_t b[2];
+      uint16_t w;
+      explicit constexpr inline U(uint16_t w)
+      : w(w) {}
+    }
+    u(w);
+    return CCITT_updateCX(CCITT_updateCX(crc, u.b[0]), u.b[1]);
+  }
+};
+
+} // namespace crc
+
+
+} // namespace modules
@@ -0,0 +1,376 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * mmu2_error_converter.cpp
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_PRUSA_MMU3
+
+#include "../../core/language.h"
+#include "mmu2_error_converter.h"
+#include "mmu_hw/error_codes.h"
+#include "mmu_hw/errors_list.h"
+
+namespace MMU3 {
+
+  static ButtonOperations buttonSelectedOperation = ButtonOperations::NoOperation;
+
+  // we don't have a constexpr find_if in C++17/STL yet
+  template <class InputIt, class UnaryPredicate>
+  constexpr InputIt find_if_cx(InputIt first, InputIt last, UnaryPredicate p) {
+    for (; first != last; ++first) {
+      if (p(*first)) return first;
+    }
+    return last;
+  }
+
+  // Making a constexpr FindError should instruct the compiler to optimize the
+  // PrusaErrorCodeIndex in such a way that no searching will ever be done at
+  // runtime. A call to FindError then compiles to a single instruction even on
+  // the AVR.
+  // static constexpr uint8_t FindErrorIndex(uint16_t pec) {
+  static uint8_t FindErrorIndex(uint16_t pec) {
+    constexpr uint16_t errorCodesSize = sizeof(errorCodes) / sizeof(errorCodes[0]);
+    constexpr const auto *errorCodesEnd = errorCodes + errorCodesSize;
+    const auto *i = find_if_cx(errorCodes, errorCodesEnd, [pec](uint16_t ed) {
+      return ed == pec;
+    });
+    return (i != errorCodesEnd) ? (i - errorCodes) : (errorCodesSize - 1);
+  }
+
+  // check that the searching algoritm works
+  // static_assert( FindErrorIndex(ERR_MECHANICAL_FINDA_DIDNT_TRIGGER) == 0);
+  // static_assert( FindErrorIndex(ERR_MECHANICAL_FINDA_FILAMENT_STUCK) == 1);
+  // static_assert( FindErrorIndex(ERR_MECHANICAL_FSENSOR_DIDNT_TRIGGER) == 2);
+  // static_assert( FindErrorIndex(ERR_MECHANICAL_FSENSOR_FILAMENT_STUCK) == 3);
+
+  constexpr ErrorCode operator&(ErrorCode a, ErrorCode b) {
+    return (ErrorCode)((uint16_t)a & (uint16_t)b);
+  }
+
+  constexpr bool ContainsBit(ErrorCode ec, ErrorCode mask) {
+    return (uint16_t)ec & (uint16_t)mask;
+  }
+
+  uint8_t PrusaErrorCodeIndex(const ErrorCode ec) {
+    switch (ec) {
+      case ErrorCode::FINDA_DIDNT_SWITCH_ON:
+        return FindErrorIndex(ERR_MECHANICAL_FINDA_DIDNT_TRIGGER);
+      case ErrorCode::FINDA_DIDNT_SWITCH_OFF:
+        return FindErrorIndex(ERR_MECHANICAL_FINDA_FILAMENT_STUCK);
+      case ErrorCode::FSENSOR_DIDNT_SWITCH_ON:
+        return FindErrorIndex(ERR_MECHANICAL_FSENSOR_DIDNT_TRIGGER);
+      case ErrorCode::FSENSOR_DIDNT_SWITCH_OFF:
+        return FindErrorIndex(ERR_MECHANICAL_FSENSOR_FILAMENT_STUCK);
+      case ErrorCode::FSENSOR_TOO_EARLY:
+        return FindErrorIndex(ERR_MECHANICAL_FSENSOR_TOO_EARLY);
+      case ErrorCode::FINDA_FLICKERS:
+        return FindErrorIndex(ERR_MECHANICAL_INSPECT_FINDA);
+      case ErrorCode::LOAD_TO_EXTRUDER_FAILED:
+        return FindErrorIndex(ERR_MECHANICAL_LOAD_TO_EXTRUDER_FAILED);
+      case ErrorCode::FILAMENT_EJECTED:
+        return FindErrorIndex(ERR_SYSTEM_FILAMENT_EJECTED);
+      case ErrorCode::FILAMENT_CHANGE:
+        return FindErrorIndex(ERR_SYSTEM_FILAMENT_CHANGE);
+
+      case ErrorCode::STALLED_PULLEY:
+      case ErrorCode::MOVE_PULLEY_FAILED:
+        return FindErrorIndex(ERR_MECHANICAL_PULLEY_CANNOT_MOVE);
+
+      case ErrorCode::HOMING_SELECTOR_FAILED:
+        return FindErrorIndex(ERR_MECHANICAL_SELECTOR_CANNOT_HOME);
+      case ErrorCode::MOVE_SELECTOR_FAILED:
+        return FindErrorIndex(ERR_MECHANICAL_SELECTOR_CANNOT_MOVE);
+
+      case ErrorCode::HOMING_IDLER_FAILED:
+        return FindErrorIndex(ERR_MECHANICAL_IDLER_CANNOT_HOME);
+      case ErrorCode::MOVE_IDLER_FAILED:
+        return FindErrorIndex(ERR_MECHANICAL_IDLER_CANNOT_MOVE);
+
+      case ErrorCode::MMU_NOT_RESPONDING:
+        return FindErrorIndex(ERR_CONNECT_MMU_NOT_RESPONDING);
+      case ErrorCode::PROTOCOL_ERROR:
+        return FindErrorIndex(ERR_CONNECT_COMMUNICATION_ERROR);
+      case ErrorCode::FILAMENT_ALREADY_LOADED:
+        return FindErrorIndex(ERR_SYSTEM_FILAMENT_ALREADY_LOADED);
+      case ErrorCode::INVALID_TOOL:
+        return FindErrorIndex(ERR_SYSTEM_INVALID_TOOL);
+      case ErrorCode::QUEUE_FULL:
+        return FindErrorIndex(ERR_SYSTEM_QUEUE_FULL);
+      case ErrorCode::VERSION_MISMATCH:
+        return FindErrorIndex(ERR_SYSTEM_FW_UPDATE_NEEDED);
+      case ErrorCode::INTERNAL:
+        return FindErrorIndex(ERR_SYSTEM_FW_RUNTIME_ERROR);
+      case ErrorCode::FINDA_VS_EEPROM_DISREPANCY:
+        return FindErrorIndex(ERR_SYSTEM_UNLOAD_MANUALLY);
+      case ErrorCode::MCU_UNDERVOLTAGE_VCC:
+        return FindErrorIndex(ERR_ELECTRICAL_MMU_MCU_ERROR);
+      default: break;
+    }
+
+    // Electrical issues which can be detected somehow.
+    // Need to be placed before TMC-related errors in order to process couples of error bits between single ones
+    // and to keep the code size down.
+    if (ContainsBit(ec, ErrorCode::TMC_PULLEY_BIT)) {
+      if ((ec & ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION) == ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION)
+        return FindErrorIndex(ERR_ELECTRICAL_MMU_PULLEY_SELFTEST_FAILED);
+    }
+    else if (ContainsBit(ec, ErrorCode::TMC_SELECTOR_BIT)) {
+      if ((ec & ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION) == ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION)
+        return FindErrorIndex(ERR_ELECTRICAL_MMU_SELECTOR_SELFTEST_FAILED);
+    }
+    else if (ContainsBit(ec, ErrorCode::TMC_IDLER_BIT)) {
+      if ((ec & ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION) == ErrorCode::MMU_SOLDERING_NEEDS_ATTENTION)
+        return FindErrorIndex(ERR_ELECTRICAL_MMU_IDLER_SELFTEST_FAILED);
+    }
+
+    // TMC-related errors - multiple of these can occur at once
+    // - in such a case we report the first which gets found/converted into Prusa-Error-Codes (usually the fact, that one TMC has an issue is serious enough)
+    // By carefully ordering the checks here we can prioritize the errors being reported to the user.
+    if (ContainsBit(ec, ErrorCode::TMC_PULLEY_BIT)) {
+      if (ContainsBit(ec, ErrorCode::TMC_IOIN_MISMATCH))
+        return FindErrorIndex(ERR_ELECTRICAL_TMC_PULLEY_DRIVER_ERROR);
+      if (ContainsBit(ec, ErrorCode::TMC_RESET))
+        return FindErrorIndex(ERR_ELECTRICAL_TMC_PULLEY_DRIVER_RESET);
+      if (ContainsBit(ec, ErrorCode::TMC_UNDERVOLTAGE_ON_CHARGE_PUMP))
+        return FindErrorIndex(ERR_ELECTRICAL_TMC_PULLEY_UNDERVOLTAGE_ERROR);
+      if (ContainsBit(ec, ErrorCode::TMC_SHORT_TO_GROUND))
+        return FindErrorIndex(ERR_ELECTRICAL_TMC_PULLEY_DRIVER_SHORTED);
+      if (ContainsBit(ec, ErrorCode::TMC_OVER_TEMPERATURE_WARN))
+        return FindErrorIndex(ERR_TEMPERATURE_WARNING_TMC_PULLEY_TOO_HOT);
+      if (ContainsBit(ec, ErrorCode::TMC_OVER_TEMPERATURE_ERROR))
+        return FindErrorIndex(ERR_TEMPERATURE_TMC_PULLEY_OVERHEAT_ERROR);
+    }
+    else if (ContainsBit(ec, ErrorCode::TMC_SELECTOR_BIT)) {
+      if (ContainsBit(ec, ErrorCode::TMC_IOIN_MISMATCH))
+        return FindErrorIndex(ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_ERROR);
+      if (ContainsBit(ec, ErrorCode::TMC_RESET))
+        return FindErrorIndex(ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_RESET);
+      if (ContainsBit(ec, ErrorCode::TMC_UNDERVOLTAGE_ON_CHARGE_PUMP))
+        return FindErrorIndex(ERR_ELECTRICAL_TMC_SELECTOR_UNDERVOLTAGE_ERROR);
+      if (ContainsBit(ec, ErrorCode::TMC_SHORT_TO_GROUND))
+        return FindErrorIndex(ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_SHORTED);
+      if (ContainsBit(ec, ErrorCode::TMC_OVER_TEMPERATURE_WARN))
+        return FindErrorIndex(ERR_TEMPERATURE_WARNING_TMC_SELECTOR_TOO_HOT);
+      if (ContainsBit(ec, ErrorCode::TMC_OVER_TEMPERATURE_ERROR))
+        return FindErrorIndex(ERR_TEMPERATURE_TMC_SELECTOR_OVERHEAT_ERROR);
+    }
+    else if (ContainsBit(ec, ErrorCode::TMC_IDLER_BIT)) {
+      if (ContainsBit(ec, ErrorCode::TMC_IOIN_MISMATCH))
+        return FindErrorIndex(ERR_ELECTRICAL_TMC_IDLER_DRIVER_ERROR);
+      if (ContainsBit(ec, ErrorCode::TMC_RESET))
+        return FindErrorIndex(ERR_ELECTRICAL_TMC_IDLER_DRIVER_RESET);
+      if (ContainsBit(ec, ErrorCode::TMC_UNDERVOLTAGE_ON_CHARGE_PUMP))
+        return FindErrorIndex(ERR_ELECTRICAL_TMC_IDLER_UNDERVOLTAGE_ERROR);
+      if (ContainsBit(ec, ErrorCode::TMC_SHORT_TO_GROUND))
+        return FindErrorIndex(ERR_ELECTRICAL_TMC_IDLER_DRIVER_SHORTED);
+      if (ContainsBit(ec, ErrorCode::TMC_OVER_TEMPERATURE_WARN))
+        return FindErrorIndex(ERR_TEMPERATURE_WARNING_TMC_IDLER_TOO_HOT);
+      if (ContainsBit(ec, ErrorCode::TMC_OVER_TEMPERATURE_ERROR))
+        return FindErrorIndex(ERR_TEMPERATURE_TMC_IDLER_OVERHEAT_ERROR);
+    }
+
+    // if nothing got caught, return a generic runtime error
+    return FindErrorIndex(ERR_OTHER_UNKNOWN_ERROR);
+  }
+
+  uint16_t PrusaErrorCode(const uint8_t i) { return (uint16_t)pgm_read_word(&errorCodes[i]); }
+
+  FSTR_P const PrusaErrorTitle(const uint8_t i) { return (FSTR_P const)pgm_read_ptr(&errorTitles[i]); }
+  FSTR_P const PrusaErrorDesc(const uint8_t i) { return (FSTR_P const)pgm_read_ptr(&errorDescs[i]); }
+
+  uint8_t PrusaErrorButtons(const uint8_t i) { return pgm_read_byte(errorButtons + i); }
+
+  FSTR_P const PrusaErrorButtonTitle(const uint8_t bi) {
+    // -1 represents the hidden NoOperation button which is not drawn in any way
+    return (FSTR_P const)pgm_read_ptr(&btnOperation[bi - 1]);
+  }
+
+  Buttons ButtonPressed(const ErrorCode ec) {
+    if (buttonSelectedOperation == ButtonOperations::NoOperation || buttonSelectedOperation == ButtonOperations::MoreInfo)
+      return Buttons::NoButton; // no button
+
+    const auto result = ButtonAvailable(ec);
+    buttonSelectedOperation = ButtonOperations::NoOperation; // Reset operation
+
+    return result;
+  }
+
+  Buttons ButtonAvailable(const ErrorCode ec) {
+    uint8_t ei = PrusaErrorCodeIndex(ec);
+
+    // The list of responses which occur in mmu error dialogs
+    // Return button index or perform some action on the MK3 by itself (like Reset MMU)
+    // Based on Prusa-Error-Codes errors_list.h
+    // So far hardcoded, but should be generated in the future
+    switch (PrusaErrorCode(ei)) {
+      case ERR_MECHANICAL_FINDA_DIDNT_TRIGGER:
+      case ERR_MECHANICAL_FINDA_FILAMENT_STUCK:
+      case ERR_MECHANICAL_FSENSOR_DIDNT_TRIGGER:
+      case ERR_MECHANICAL_FSENSOR_FILAMENT_STUCK:
+      case ERR_MECHANICAL_FSENSOR_TOO_EARLY:
+      case ERR_MECHANICAL_INSPECT_FINDA:
+      case ERR_MECHANICAL_SELECTOR_CANNOT_MOVE:
+      case ERR_MECHANICAL_IDLER_CANNOT_MOVE:
+      case ERR_MECHANICAL_PULLEY_CANNOT_MOVE:
+      case ERR_SYSTEM_UNLOAD_MANUALLY:
+        switch (buttonSelectedOperation) {
+          // may be allow move selector right and left in the future
+          case ButtonOperations::Retry: // "Repeat action"
+            return Buttons::Middle;
+          default:
+            break;
+        }
+        break;
+      case ERR_MECHANICAL_SELECTOR_CANNOT_HOME:
+      case ERR_MECHANICAL_IDLER_CANNOT_HOME:
+        switch (buttonSelectedOperation) {
+          // may be allow move selector right and left in the future
+          case ButtonOperations::Tune: // Tune Stallguard threshold
+            return Buttons::TuneMMU;
+          case ButtonOperations::Retry: // "Repeat action"
+            return Buttons::Middle;
+          default:
+            break;
+        }
+        break;
+      case ERR_MECHANICAL_LOAD_TO_EXTRUDER_FAILED:
+      case ERR_SYSTEM_FILAMENT_EJECTED:
+        switch (buttonSelectedOperation) {
+          case ButtonOperations::Continue: // User solved the serious mechanical problem by hand - there is no other way around
+            return Buttons::Middle;
+          default:
+            break;
+        }
+        break;
+      case ERR_SYSTEM_FILAMENT_CHANGE:
+        switch (buttonSelectedOperation) {
+          case ButtonOperations::Load:
+            return Buttons::Load;
+          case ButtonOperations::Eject:
+            return Buttons::Eject;
+          default:
+            break;
+        }
+        break;
+      case ERR_TEMPERATURE_WARNING_TMC_PULLEY_TOO_HOT:
+      case ERR_TEMPERATURE_WARNING_TMC_SELECTOR_TOO_HOT:
+      case ERR_TEMPERATURE_WARNING_TMC_IDLER_TOO_HOT:
+        switch (buttonSelectedOperation) {
+          case ButtonOperations::Continue: // "Continue"
+            return Buttons::Left;
+          case ButtonOperations::ResetMMU: // "Reset MMU"
+            return Buttons::ResetMMU;
+          default:
+            break;
+        }
+        break;
+
+      case ERR_TEMPERATURE_TMC_PULLEY_OVERHEAT_ERROR:
+      case ERR_TEMPERATURE_TMC_SELECTOR_OVERHEAT_ERROR:
+      case ERR_TEMPERATURE_TMC_IDLER_OVERHEAT_ERROR:
+
+      case ERR_ELECTRICAL_TMC_PULLEY_DRIVER_ERROR:
+      case ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_ERROR:
+      case ERR_ELECTRICAL_TMC_IDLER_DRIVER_ERROR:
+
+      case ERR_ELECTRICAL_TMC_PULLEY_DRIVER_RESET:
+      case ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_RESET:
+      case ERR_ELECTRICAL_TMC_IDLER_DRIVER_RESET:
+
+      case ERR_ELECTRICAL_TMC_PULLEY_UNDERVOLTAGE_ERROR:
+      case ERR_ELECTRICAL_TMC_SELECTOR_UNDERVOLTAGE_ERROR:
+      case ERR_ELECTRICAL_TMC_IDLER_UNDERVOLTAGE_ERROR:
+
+      case ERR_ELECTRICAL_TMC_PULLEY_DRIVER_SHORTED:
+      case ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_SHORTED:
+      case ERR_ELECTRICAL_TMC_IDLER_DRIVER_SHORTED:
+
+      case ERR_ELECTRICAL_MMU_PULLEY_SELFTEST_FAILED:
+      case ERR_ELECTRICAL_MMU_SELECTOR_SELFTEST_FAILED:
+      case ERR_ELECTRICAL_MMU_IDLER_SELFTEST_FAILED:
+
+      case ERR_SYSTEM_QUEUE_FULL:
+      case ERR_SYSTEM_FW_RUNTIME_ERROR:
+      case ERR_ELECTRICAL_MMU_MCU_ERROR:
+        switch (buttonSelectedOperation) {
+          case ButtonOperations::ResetMMU: // "Reset MMU"
+            return Buttons::ResetMMU;
+          default:
+            break;
+        }
+        break;
+      case ERR_CONNECT_MMU_NOT_RESPONDING:
+      case ERR_CONNECT_COMMUNICATION_ERROR:
+      case ERR_SYSTEM_FW_UPDATE_NEEDED:
+        switch (buttonSelectedOperation) {
+          case ButtonOperations::DisableMMU: // "Disable"
+            return Buttons::DisableMMU;
+          case ButtonOperations::ResetMMU: // "ResetMMU"
+            return Buttons::ResetMMU;
+          default:
+            break;
+        }
+        break;
+      case ERR_SYSTEM_FILAMENT_ALREADY_LOADED:
+        switch (buttonSelectedOperation) {
+          case ButtonOperations::Unload: // "Unload"
+            return Buttons::Left;
+          case ButtonOperations::Continue: // "Proceed/Continue"
+            return Buttons::Right;
+          default:
+            break;
+        }
+        break;
+
+      case ERR_SYSTEM_INVALID_TOOL:
+        switch (buttonSelectedOperation) {
+          case ButtonOperations::StopPrint: // "Stop print"
+            return Buttons::StopPrint;
+          case ButtonOperations::ResetMMU: // "Reset MMU"
+            return Buttons::ResetMMU;
+          default:
+            break;
+        }
+        break;
+
+      default:
+        break;
+    }
+
+    return Buttons::NoButton;
+  }
+
+  void SetButtonResponse(ButtonOperations rsp) {
+    buttonSelectedOperation = rsp;
+  }
+
+  ButtonOperations GetButtonResponse() {
+    return buttonSelectedOperation;
+  }
+
+} // MMU3
+
+#endif // HAS_PRUSA_MMU3
@@ -0,0 +1,73 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2_error_converter.h
+ */
+
+#include <stdint.h>
+#include <stddef.h>
+#include "mmu_hw/buttons.h"
+#include "mmu_hw/error_codes.h"
+
+  namespace MMU3 {
+
+  // Translates MMU3::ErrorCode into an index of Prusa-Error-Codes
+  // Basically this is the way to obtain an index into all other functions in this API
+  uint8_t PrusaErrorCodeIndex(const ErrorCode ec);
+
+  // @return pointer to a PROGMEM string representing the Title of the Prusa-Error-Codes error
+  // @param i index of the error - obtained by calling ErrorCodeIndex
+  FSTR_P const PrusaErrorTitle(const uint8_t i);
+
+  // @return pointer to a PROGMEM string representing the multi-page Description of the Prusa-Error-Codes error
+  // @param i index of the error - obtained by calling ErrorCodeIndex
+  FSTR_P const PrusaErrorDesc(const uint8_t i);
+
+  // @return the actual numerical value of the Prusa-Error-Codes error
+  // @param i index of the error - obtained by calling ErrorCodeIndex
+  uint16_t PrusaErrorCode(const uint8_t i);
+
+  // @return Btns pair of buttons for a particular Prusa-Error-Codes error
+  // @param i index of the error - obtained by calling ErrorCodeIndex
+  uint8_t PrusaErrorButtons(const uint8_t i);
+
+  // @return pointer to a PROGMEM string representing the Title of a button
+  // @param i index of the error - obtained by calling PrusaErrorButtons + extracting low or high nibble from the Btns pair
+  FSTR_P const PrusaErrorButtonTitle(const uint8_t bi);
+
+  // Sets the selected button for later pick-up by the MMU state machine.
+  // Used to save the GUI selection/decoupling
+  void SetButtonResponse(const ButtonOperations rsp);
+  ButtonOperations GetButtonResponse();
+
+  // @return button index/code based on currently processed error/screen
+  // Clears the "pressed" button upon exit
+  Buttons ButtonPressed(const ErrorCode ec);
+
+  // @return button index/code based on currently processed error/screen
+  // Used as a subfunction of ButtonPressed.
+  // Does not clear the "pressed" button upon exit
+  Buttons ButtonAvailable(const ErrorCode ec);
+
+  } // MMU3
@@ -0,0 +1,65 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * mmu2_fsensor.cpp
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_PRUSA_MMU3
+
+#include "../../feature/runout.h"
+#include "mmu2_fsensor.h"
+
+namespace MMU3 {
+
+  #if HAS_FILAMENT_SENSOR
+
+    FSensorBlockRunout::FSensorBlockRunout() {
+      runout.enabled = false; // Suppress filament runouts while loading filament.
+      //fsensor.setAutoLoadEnabled(false); //suppress filament autoloads while loading filament.
+    }
+
+    FSensorBlockRunout::~FSensorBlockRunout() {
+      //fsensor.settings_init(); // restore filament runout state.
+      runout.reset();
+      runout.enabled = true;
+      //SERIAL_ECHOLNPGM("FSUnBlockRunout");
+    }
+
+  #else
+
+    FSensorBlockRunout::FSensorBlockRunout() { }
+    FSensorBlockRunout::~FSensorBlockRunout() { }
+
+  #endif
+
+
+  FilamentState WhereIsFilament() {
+    //return fsensor.getFilamentPresent() ? FilamentState::AT_FSENSOR : FilamentState::NOT_PRESENT;
+    return FILAMENT_PRESENT() ? FilamentState::AT_FSENSOR : FilamentState::NOT_PRESENT;
+  }
+
+} // MMU3
+
+#endif // HAS_PRUSA_MMU3
@@ -0,0 +1,55 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2_fsensor.h
+ */
+
+#include "../../core/macros.h"
+#include <stdint.h>
+
+#define FILAMENT_PRESENT() (READ(FIL_RUNOUT1_PIN) != FIL_RUNOUT1_STATE)
+
+namespace MMU3 {
+
+  // Can be used to block printer's filament sensor handling - to avoid errorneous injecting of M600
+  // while doing a toolchange with the MMU
+  // In case of "no filament sensor" these methods default to an empty implementation
+  class FSensorBlockRunout {
+    public:
+    FSensorBlockRunout();
+    ~FSensorBlockRunout();
+  };
+
+  // Possible states of filament from the perspective of presence in various parts of the printer
+  // Beware, the numeric codes are important and sent into the MMU
+  enum class FilamentState : uint_fast8_t {
+    NOT_PRESENT = 0,  //!< Filament sensor doesn't see the filament
+    AT_FSENSOR  = 1,  //!< Filament detected by the filament sensor, but the nozzle has not detected the filament yet
+    IN_NOZZLE   = 2,  //!< Filament detected by the filament sensor and also loaded in the nozzle
+    UNAVAILABLE = 3   //!< Sensor not available (likely not connected due broken cable)
+  };
+
+  FilamentState WhereIsFilament();
+
+} // MMU3
@@ -0,0 +1,47 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * mmu2_log.cpp
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_PRUSA_MMU3
+
+#include "mmu2_log.h"
+
+namespace MMU3 {
+
+  void LogEchoEvent_P(PGM_P const pstr) {
+    SERIAL_ECHO_START(); // @@TODO Decide MMU errors on serial line
+    SERIAL_MMU2();
+    SERIAL_ECHOLN_P(pstr);
+  }
+
+  void LogErrorEvent_P(PGM_P const pstr) {
+    LogEchoEvent_P(pstr);
+  }
+
+} // MMU3
+
+#endif // HAS_PRUSA_MMU3
@@ -0,0 +1,82 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2_log.h
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+namespace MMU3 {
+
+  // Report the msg into the general logging subsystem (through Marlin's SERIAL_ECHO stuff)
+  // @param msg pointer to a string in PROGMEM
+  // On the AVR platform this variant reads the input string from PROGMEM.
+  // On the ARM platform it calls LogErrorEvent directly (silently expecting the compiler to optimize it away)
+  void LogErrorEvent_P(PGM_P const pstr);
+  inline void LogErrorEvent(FSTR_P const fstr) { LogErrorEvent_P(FTOP(fstr)); }
+
+  // Report the msg into the general logging subsystem (through Marlin's SERIAL_ECHO stuff)
+  // @param msg pointer to a string in PROGMEM
+  // On the AVR platform this variant reads the input string from PROGMEM.
+  // On the ARM platform it calls LogErrorEvent directly (silently expecting the compiler to optimize it away)
+  void LogEchoEvent_P(PGM_P const pstr);
+  inline void LogEchoEvent(FSTR_P const fstr) { LogEchoEvent_P(FTOP(fstr)); }
+
+} // MMU3
+
+#ifndef UNITTEST
+
+  #define SERIAL_MMU2() { SERIAL_ECHO(F("MMU3:")); }
+
+  #define MMU2_ECHO_MSGLN(S) do { \
+      SERIAL_ECHO_START();        \
+      SERIAL_MMU2();              \
+      SERIAL_ECHOLN(S);           \
+    }while(0)
+  #define MMU2_ERROR_MSGLN(S) MMU2_ECHO_MSGLN(S) //! @todo Decide MMU errors  on serial line
+  #define MMU2_ECHO_MSGRPGM(S) do { \
+      SERIAL_ECHO_START();          \
+      SERIAL_MMU2();                \
+      SERIAL_ECHO_P(S);             \
+    }while(0)
+  #define MMU2_ERROR_MSGRPGM(S) MMU2_ECHO_MSGRPGM(S) //! @todo Decide MMU errors  on serial line
+  #define MMU2_ECHO_MSG(S) do { \
+      SERIAL_ECHO_START();      \
+      SERIAL_MMU2();            \
+      SERIAL_ECHO(S);           \
+    }while(0)
+  #define MMU2_ERROR_MSG(S) MMU2_ECHO_MSG(S) //! @todo Decide MMU errors  on serial line
+
+#else // UNITTEST
+
+  #include "stubs/stub_interfaces.h"
+  #define MMU2_ECHO_MSGLN(S)    marlinLogSim.AppendLine(S)
+  #define MMU2_ERROR_MSGLN(S)   marlinLogSim.AppendLine(S)
+  #define MMU2_ECHO_MSGRPGM(S)  /* marlinLogSim.AppendLine(S) */
+  #define MMU2_ERROR_MSGRPGM(S) /* marlinLogSim.AppendLine(S) */
+  #define SERIAL_ECHOLNPGM(S)   /* marlinLogSim.AppendLine(S) */
+  #define SERIAL_ECHOPGM(S)     /* */
+  #define SERIAL_ECHOLN(S)      /* marlinLogSim.AppendLine(S) */
+
+#endif // UNITTEST
@@ -0,0 +1,74 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2_marlin.h
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+namespace MMU3 {
+
+  // This interface separates Marlin1/Marlin2 from the MMU top logic layer.
+  // - Unify implementation among MK3 and Buddy FW
+  // - Enable unit testing of MMU top layer
+
+  void extruder_move(const_float_t distance, const_float_t feedRate_mm_s, const bool sync=true);
+  void extruder_schedule_turning(const_float_t feedRate_mm_s);
+
+  float move_raise_z(const_float_t delta);
+
+  void planner_abort_queued_moves();
+  void planner_synchronize();
+  bool planner_any_moves();
+  float stepper_get_machine_position_E_mm();
+  float planner_get_current_position_E();
+  void planner_set_current_position_E(float e);
+  xyz_pos_t planner_current_position();
+
+  void motion_do_blocking_move_to_xy(float rx, float ry, float feedRate_mm_s);
+  void motion_do_blocking_move_to_z(float z, float feedRate_mm_s);
+
+  void nozzle_park();
+
+  bool marlin_printingIsActive();
+  void marlin_manage_heater();
+  void marlin_manage_inactivity(bool b);
+  void marlin_idle(bool b);
+  void marlin_refresh_print_state_in_ram();
+  void marlin_clear_print_state_in_ram();
+  void marlin_stop_and_save_print_to_ram();
+
+  int16_t thermal_degTargetHotend();
+  int16_t thermal_degHotend();
+  void thermal_setExtrudeMintemp(int16_t t);
+  void thermal_setTargetHotend(int16_t t);
+
+  void safe_delay_keep_alive(uint16_t t);
+
+  void Enable_E0();
+  void Disable_E0();
+
+  bool xy_are_trusted();
+
+} // MMU3
@@ -0,0 +1,190 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * mmu2_marlin1.cpp
+ * MK3 / Marlin1 implementation of support routines for the MMU3
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_PRUSA_MMU3
+
+#include "../../MarlinCore.h"
+#include "../../module/stepper.h"
+#include "../../module/planner.h"
+#include "../../module/temperature.h"
+
+#include "../../feature/pause.h"
+#include "../../libs/nozzle.h"
+#include "mmu2_marlin.h"
+
+namespace MMU3 {
+
+  static void planner_line_to_current_position(float feedRate_mm_s) {
+    line_to_current_position(feedRate_mm_s);
+  }
+
+  static void planner_line_to_current_position_sync(float feedRate_mm_s) {
+    planner_line_to_current_position(feedRate_mm_s);
+    planner_synchronize();
+  }
+
+  void extruder_move(const_float_t delta, const_float_t feedRate_mm_s, const bool sync/*=true*/) {
+    current_position.e += delta / planner.e_factor[active_extruder];
+    planner_line_to_current_position(feedRate_mm_s);
+    if (sync) planner.synchronize();
+  }
+
+  float move_raise_z(const_float_t delta) {
+    //return raise_z(delta);
+    xyze_pos_t current_position_before = current_position;
+    do_z_clearance_by(delta);
+    return (current_position - current_position_before).z;
+  }
+
+  void planner_abort_queued_moves() {
+    //planner_abort_hard();
+    quickstop_stepper();
+
+    // Unblock the planner. This should be safe in the
+    // toolchange context. Currently we are mainly aborting
+    // excess E-moves after detecting filament during toolchange.
+    // If a MMU error is reported, the planner must be unblocked
+    // as well so the extruder can be parked safely.
+    //planner_aborted = false;
+    // eoyilmaz: we don't need this part, the print is not aborted
+  }
+
+  void planner_synchronize() {
+    planner.synchronize();
+  }
+
+  bool planner_any_moves() {
+    return planner.has_blocks_queued();
+  }
+
+  float planner_get_machine_position_E_mm() {
+    return current_position.e;
+  }
+
+  float stepper_get_machine_position_E_mm() {
+    return planner.get_axis_position_mm(E_AXIS);
+  }
+
+  float planner_get_current_position_E() {
+    return current_position.e;
+  }
+
+  void planner_set_current_position_E(float e) {
+    current_position.e = e;
+  }
+
+  xyz_pos_t planner_current_position() {
+    return xyz_pos_t(current_position);
+  }
+
+  void motion_do_blocking_move_to_xy(float rx, float ry, float feedRate_mm_s) {
+    current_position[X_AXIS] = rx;
+    current_position[Y_AXIS] = ry;
+    planner_line_to_current_position_sync(feedRate_mm_s);
+  }
+
+  void motion_do_blocking_move_to_z(float z, float feedRate_mm_s) {
+    current_position[Z_AXIS] = z;
+    planner_line_to_current_position_sync(feedRate_mm_s);
+  }
+
+  void nozzle_park() {
+    #if ANY(NOZZLE_CLEAN_FEATURE, NOZZLE_PARK_FEATURE)
+      #if ALL(ADVANCED_PAUSE_FEATURE)
+        xyz_pos_t park_point = NOZZLE_PARK_POINT;
+        nozzle.park(0, park_point);
+      #endif
+    #endif
+  }
+
+  bool marlin_printingIsActive() { return printingIsActive(); }
+
+  void marlin_manage_heater() { thermalManager.task(); }
+
+  void marlin_manage_inactivity(const bool b) { idle(b); }
+
+  void marlin_idle(bool b) {
+    thermalManager.task();
+    idle(b);
+  }
+
+  void marlin_refresh_print_state_in_ram() {
+    // refresh_print_state_in_ram();
+    // TODO: I don't see a comparable implementation in Marlin.
+  }
+
+  void marlin_clear_print_state_in_ram() {
+    // clear_print_state_in_ram();
+    // TODO: I don't see a comparable implementation in Marlin.
+  }
+
+  void marlin_stop_and_save_print_to_ram() {
+    // stop_and_save_print_to_ram(0,0);
+    #if ENABLED(ADVANCED_PAUSE_FEATURE)
+      constexpr xyz_pos_t park_point = NOZZLE_PARK_POINT;
+      pause_print(0, park_point);
+    #endif
+  }
+
+  int16_t thermal_degTargetHotend() {
+    return thermalManager.degTargetHotend(0);
+  }
+
+  int16_t thermal_degHotend() {
+    return thermalManager.degHotend(0);
+  }
+
+  void thermal_setExtrudeMintemp(int16_t t) {
+    thermalManager.extrude_min_temp = t;
+  }
+
+  void thermal_setTargetHotend(int16_t t) {
+    thermalManager.setTargetHotend(t, 0);
+  }
+
+  void safe_delay_keep_alive(uint16_t t) {
+    idle(true);
+    safe_delay(t);
+  }
+
+  void Enable_E0() {
+    stepper.enable_extruder(TERN_(HAS_EXTRUDERS, 0));
+  }
+
+  void Disable_E0() {
+    stepper.disable_extruder(TERN_(HAS_EXTRUDERS, 0));
+  }
+
+  bool xy_are_trusted() {
+    return axis_is_trusted(X_AXIS) && axis_is_trusted(Y_AXIS);
+  }
+
+} // MMU3
+
+#endif // HAS_PRUSA_MMU3
@@ -0,0 +1,49 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2_marlin_macros.h
+ */
+
+// This file will not be the same on Marlin1 and Marlin2.
+// Its purpose is to unify different macros in either of Marlin incarnations.
+
+#ifdef __AVR__
+  #include "../../MarlinCore.h"
+  // brings _O and _T macros into MMU
+  #include "../../core/language.h"
+  #include "../../gcode/gcode.h"
+  // we don't have these in Marlin 2.x so just define them here again
+  #define _O(x)                             x
+  #define _T(x)                             x
+  #define MARLIN_KEEPALIVE_STATE_IN_PROCESS KEEPALIVE_STATE(IN_PROCESS)
+#elif defined(UNITTEST)
+  #define _O(x)                             x
+  #define _T(x)                             x
+  #define MARLIN_KEEPALIVE_STATE_IN_PROCESS /*KEEPALIVE_STATE(IN_PROCESS) TODO*/
+#else
+  #include "../../gcode/gcode.h"
+  #define _O(x)                             x
+  #define _T(x)                             x
+  #define MARLIN_KEEPALIVE_STATE_IN_PROCESS KEEPALIVE_STATE(IN_PROCESS)
+#endif
@@ -0,0 +1,65 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * mmu2_power.cpp
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_PRUSA_MMU3
+
+#include "mmu2.h"
+#include "mmu2_power.h"
+
+#include "../../MarlinCore.h"
+
+#include "../../core/macros.h"
+#include "../../core/boards.h"
+#include "../../pins/pins.h"
+
+namespace MMU3 {
+
+// On MK3 we cannot do actual power cycle on HW. Instead trigger a hardware reset.
+void power_on() {
+  #if PIN_EXISTS(MMU2_RST)
+    OUT_WRITE(MMU2_RST_PIN, HIGH);
+  #endif
+  power_reset();
+}
+
+void power_off() {}
+
+void power_reset() {
+  #if PIN_EXISTS(MMU2_RST) // HW - pulse reset pin
+    WRITE(MMU2_RST_PIN, LOW);
+    safe_delay(100);
+    WRITE(MMU2_RST_PIN, HIGH);
+  #else
+    mmu3.reset(MMU3::Software); // TODO: Needs redesign. This power implementation shouldn't know anything about the MMU itself
+  #endif
+  // otherwise HW reset is not available
+}
+
+} // MMU3
+
+#endif // HAS_PRUSA_MMU3
@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2_power.h
+ */
+
+namespace MMU3 {
+
+void power_on();
+
+void power_off();
+
+void power_reset();
+
+} // MMU3
@@ -0,0 +1,82 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * mmu2_progress_converter.cpp
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_PRUSA_MMU3
+
+#include "../../core/language.h"
+#include "mmu2_progress_converter.h"
+#ifdef __AVR__
+  #include <avr/pgmspace.h>
+#endif
+#include "mmu_hw/progress_codes.h"
+#include "mmu_hw/errors_list.h"
+
+namespace MMU3 {
+
+  FSTR_P const progressTexts[] PROGMEM = {
+    GET_TEXT_F(MSG_PROGRESS_OK),
+    GET_TEXT_F(MSG_PROGRESS_ENGAGE_IDLER),
+    GET_TEXT_F(MSG_PROGRESS_DISENGAGE_IDLER),
+    GET_TEXT_F(MSG_PROGRESS_UNLOAD_FINDA),
+    GET_TEXT_F(MSG_PROGRESS_UNLOAD_PULLEY),
+    GET_TEXT_F(MSG_PROGRESS_FEED_FINDA),
+    GET_TEXT_F(MSG_PROGRESS_FEED_EXTRUDER),
+    GET_TEXT_F(MSG_PROGRESS_FEED_NOZZLE),
+    GET_TEXT_F(MSG_PROGRESS_AVOID_GRIND),
+    GET_TEXT_F(MSG_FINISHING_MOVEMENTS),      // reuse from messages.cpp
+    GET_TEXT_F(MSG_PROGRESS_DISENGAGE_IDLER), // err disengaging idler is the same text
+    GET_TEXT_F(MSG_PROGRESS_ENGAGE_IDLER),    // engage dtto.
+    GET_TEXT_F(MSG_PROGRESS_WAIT_USER),
+    GET_TEXT_F(MSG_PROGRESS_ERR_INTERNAL),
+    GET_TEXT_F(MSG_PROGRESS_ERR_HELP_FIL),
+    GET_TEXT_F(MSG_PROGRESS_ERR_TMC),
+    GET_TEXT_F(MSG_UNLOADING_FILAMENT),       // reuse from messages.cpp
+    GET_TEXT_F(MSG_LOADING_FILAMENT),         // reuse from messages.cpp
+    GET_TEXT_F(MSG_PROGRESS_SELECT_SLOT),
+    GET_TEXT_F(MSG_PROGRESS_PREPARE_BLADE),
+    GET_TEXT_F(MSG_PROGRESS_PUSH_FILAMENT),
+    GET_TEXT_F(MSG_PROGRESS_PERFORM_CUT),
+    GET_TEXT_F(MSG_PROGRESSPSTRETURN_SELECTOR),
+    GET_TEXT_F(MSG_PROGRESS_PARK_SELECTOR),
+    GET_TEXT_F(MSG_PROGRESS_EJECT_FILAMENT),
+    GET_TEXT_F(MSG_PROGRESSPSTRETRACT_FINDA),
+    GET_TEXT_F(MSG_PROGRESS_HOMING),
+    GET_TEXT_F(MSG_PROGRESS_MOVING_SELECTOR),
+    GET_TEXT_F(MSG_PROGRESS_FEED_FSENSOR)
+  };
+
+  FSTR_P const ProgressCodeToText(const ProgressCode pc) {
+    // @@TODO ?? a better fallback option?
+    return (int(pc) < COUNT(progressTexts))
+     ? static_cast<FSTR_P const>(pgm_read_ptr(&progressTexts[(uint16_t)pc]))
+     : static_cast<FSTR_P const>(pgm_read_ptr(&progressTexts[0]));
+  }
+
+} // MMU3
+
+#endif // HAS_PRUSA_MMU3
@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2_progress_converter.h
+ */
+
+#include "mmu_hw/progress_codes.h"
+
+#include "../../HAL/shared/Marduino.h"
+
+namespace MMU3 {
+
+FSTR_P const ProgressCodeToText(const ProgressCode pc);
+
+}
@@ -0,0 +1,418 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * mmu2_protocol.cpp
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_PRUSA_MMU3
+
+#include "mmu2_protocol.h"
+
+// protocol definition
+// command: Q0
+// meaning: query operation status
+// Query/command: query
+// Expected reply from the MMU:
+//  any of the running operation statuses: OID: [T|L|U|E|C|W|K][0-4]
+//  <OID> P[0-9]      : command being processed i.e. operation running, may contain a state number
+//  <OID> E[0-9][0-9] : error 1-9 while doing a tool change
+//  <OID> F[0-9]      : operation finished - will be repeated to "Q" messages until a new command is issued
+
+namespace modules {
+namespace protocol {
+
+  // decoding automaton
+  // states:  input -> transition into state
+  // Code      QTLMUXPSBEWK -> msgcode
+  //           \n ->start
+  //           * ->error
+  // error     \n ->start
+  //           * ->error
+  // msgcode   0-9 ->msgvalue
+  //           * ->error
+  // msgvalue  0-9 ->msgvalue
+  //           \n ->start successfully accepted command
+
+  DecodeStatus Protocol::DecodeRequest(uint8_t c) {
+    switch (rqState) {
+      case RequestStates::Code:
+        switch (c) {
+          case 'Q':
+          case 'T':
+          case 'L':
+          case 'M':
+          case 'U':
+          case 'X':
+          case 'P':
+          case 'S':
+          case 'B':
+          case 'E':
+          case 'W': // write is gonna be a special one
+          case 'K':
+          case 'F':
+          case 'f':
+          case 'H':
+          case 'R':
+            requestMsg.code = (RequestMsgCodes)c;
+            requestMsg.value = 0;
+            requestMsg.value2 = 0;
+            requestMsg.crc8 = 0;
+            rqState = (c == 'W') ? RequestStates::Address : RequestStates::Value; // prepare special automaton path for Write commands
+            return DecodeStatus::NeedMoreData;
+          default:
+            requestMsg.code = RequestMsgCodes::unknown;
+            rqState = RequestStates::Error;
+            return DecodeStatus::Error;
+        }
+      case RequestStates::Value:
+        if (IsHexDigit(c)) {
+          requestMsg.value <<= 4U;
+          requestMsg.value |= Char2Nibble(c);
+          return DecodeStatus::NeedMoreData;
+        }
+        else if (IsCRCSeparator(c)) {
+          rqState = RequestStates::CRC;
+          return DecodeStatus::NeedMoreData;
+        }
+        else {
+          requestMsg.code = RequestMsgCodes::unknown;
+          rqState = RequestStates::Error;
+          return DecodeStatus::Error;
+        }
+      case RequestStates::Address:
+        if (IsHexDigit(c)) {
+          requestMsg.value <<= 4U;
+          requestMsg.value |= Char2Nibble(c);
+          return DecodeStatus::NeedMoreData;
+        }
+        else if (c == ' ') { // end of address, value coming
+          rqState = RequestStates::WriteValue;
+          return DecodeStatus::NeedMoreData;
+        }
+        else {
+          requestMsg.code = RequestMsgCodes::unknown;
+          rqState = RequestStates::Error;
+          return DecodeStatus::Error;
+        }
+      case RequestStates::WriteValue:
+        if (IsHexDigit(c)) {
+          requestMsg.value2 <<= 4U;
+          requestMsg.value2 |= Char2Nibble(c);
+          return DecodeStatus::NeedMoreData;
+        }
+        else if (IsCRCSeparator(c)) {
+          rqState = RequestStates::CRC;
+          return DecodeStatus::NeedMoreData;
+        }
+        else {
+          requestMsg.code = RequestMsgCodes::unknown;
+          rqState = RequestStates::Error;
+          return DecodeStatus::Error;
+        }
+      case RequestStates::CRC:
+        if (IsHexDigit(c)) {
+          requestMsg.crc8 <<= 4U;
+          requestMsg.crc8 |= Char2Nibble(c);
+          return DecodeStatus::NeedMoreData;
+        }
+        else if (IsNewLine(c)) {
+          // check CRC at this spot
+          if (requestMsg.crc8 != requestMsg.ComputeCRC8()) {
+            // CRC mismatch
+            requestMsg.code = RequestMsgCodes::unknown;
+            rqState = RequestStates::Error;
+            return DecodeStatus::Error;
+          }
+          else {
+            rqState = RequestStates::Code;
+            return DecodeStatus::MessageCompleted;
+          }
+        }
+        else {
+          requestMsg.code = RequestMsgCodes::unknown;
+          rqState = RequestStates::Error;
+          return DecodeStatus::Error;
+        }
+      default: // case error:
+        if (IsNewLine(c)) {
+          rqState = RequestStates::Code;
+          return DecodeStatus::MessageCompleted;
+        }
+        else {
+          requestMsg.code = RequestMsgCodes::unknown;
+          rqState = RequestStates::Error;
+          return DecodeStatus::Error;
+        }
+    }
+  }
+
+  uint8_t Protocol::EncodeRequest(const RequestMsg &msg, uint8_t *txbuff) {
+    txbuff[0] = (uint8_t)msg.code;
+    uint8_t i = 1 + UInt8ToHex(msg.value, txbuff + 1);
+
+    i += AppendCRC(msg.getCRC(), txbuff + i);
+
+    txbuff[i] = '\n';
+    ++i;
+    return i;
+    static_assert(7 <= MaxRequestSize(), "Request message length exceeded the maximum size, increase the magic constant in MaxRequestSize()");
+  }
+
+  uint8_t Protocol::EncodeWriteRequest(uint8_t address, uint16_t value, uint8_t *txbuff) {
+    const RequestMsg msg(RequestMsgCodes::Write, address, value);
+    uint8_t i = BeginEncodeRequest(msg, txbuff);
+    // dump the value
+    i += UInt16ToHex(value, txbuff + i);
+
+    i += AppendCRC(msg.getCRC(), txbuff + i);
+
+    txbuff[i] = '\n';
+    ++i;
+    return i;
+  }
+
+  DecodeStatus Protocol::DecodeResponse(uint8_t c) {
+    switch (rspState) {
+      case ResponseStates::RequestCode:
+        switch (c) {
+          case 'Q':
+          case 'T':
+          case 'L':
+          case 'M':
+          case 'U':
+          case 'X':
+          case 'P':
+          case 'S':
+          case 'B':
+          case 'E':
+          case 'W':
+          case 'K':
+          case 'F':
+          case 'f':
+          case 'H':
+          case 'R':
+            responseMsg.request.code = (RequestMsgCodes)c;
+            responseMsg.request.value = 0;
+            responseMsg.request.value2 = 0;
+            responseMsg.request.crc8 = 0;
+            rspState = ResponseStates::RequestValue;
+            return DecodeStatus::NeedMoreData;
+          case 0x0a:
+          case 0x0d:
+            // skip leading whitespace if any (makes integration with other SW easier/tolerant)
+            return DecodeStatus::NeedMoreData;
+          default:
+            rspState = ResponseStates::Error;
+            return DecodeStatus::Error;
+        }
+      case ResponseStates::RequestValue:
+        if (IsHexDigit(c)) {
+          responseMsg.request.value <<= 4U;
+          responseMsg.request.value += Char2Nibble(c);
+          return DecodeStatus::NeedMoreData;
+        }
+        else if (c == ' ') {
+          rspState = ResponseStates::ParamCode;
+          return DecodeStatus::NeedMoreData;
+        }
+        else {
+          rspState = ResponseStates::Error;
+          return DecodeStatus::Error;
+        }
+      case ResponseStates::ParamCode:
+        switch (c) {
+          case 'P':
+          case 'E':
+          case 'F':
+          case 'A':
+          case 'R':
+          case 'B':
+            rspState = ResponseStates::ParamValue;
+            responseMsg.paramCode = (ResponseMsgParamCodes)c;
+            responseMsg.paramValue = 0;
+            return DecodeStatus::NeedMoreData;
+          default:
+            responseMsg.paramCode = ResponseMsgParamCodes::unknown;
+            rspState = ResponseStates::Error;
+            return DecodeStatus::Error;
+        }
+      case ResponseStates::ParamValue:
+        if (IsHexDigit(c)) {
+          responseMsg.paramValue <<= 4U;
+          responseMsg.paramValue += Char2Nibble(c);
+          return DecodeStatus::NeedMoreData;
+        }
+        else if (IsCRCSeparator(c)) {
+          rspState = ResponseStates::CRC;
+          return DecodeStatus::NeedMoreData;
+        }
+        else {
+          responseMsg.paramCode = ResponseMsgParamCodes::unknown;
+          rspState = ResponseStates::Error;
+          return DecodeStatus::Error;
+        }
+      case ResponseStates::CRC:
+        if (IsHexDigit(c)) {
+          responseMsg.request.crc8 <<= 4U;
+          responseMsg.request.crc8 += Char2Nibble(c);
+          return DecodeStatus::NeedMoreData;
+        }
+        else if (IsNewLine(c)) {
+          // check CRC at this spot
+          if (responseMsg.request.crc8 != responseMsg.ComputeCRC8()) {
+            // CRC mismatch
+            responseMsg.paramCode = ResponseMsgParamCodes::unknown;
+            rspState = ResponseStates::Error;
+            return DecodeStatus::Error;
+          }
+          else {
+            rspState = ResponseStates::RequestCode;
+            return DecodeStatus::MessageCompleted;
+          }
+        }
+        else {
+          responseMsg.paramCode = ResponseMsgParamCodes::unknown;
+          rspState = ResponseStates::Error;
+          return DecodeStatus::Error;
+        }
+      default: // case error:
+        if (IsNewLine(c)) {
+          rspState = ResponseStates::RequestCode;
+          return DecodeStatus::MessageCompleted;
+        }
+        else {
+          responseMsg.paramCode = ResponseMsgParamCodes::unknown;
+          return DecodeStatus::Error;
+        }
+    }
+  }
+
+  uint8_t Protocol::EncodeResponseCmdAR(const RequestMsg &msg, ResponseMsgParamCodes ar, uint8_t *txbuff) {
+    // BEWARE:
+    // ResponseMsg rsp(RequestMsg(msg.code, msg.value), ar, 0);
+    // ... is NOT the same as:
+    // ResponseMsg rsp(msg, ar, 0);
+    // ... because of the usually unused parameter value2 (which only comes non-zero in write requests).
+    // It took me a few hours to find out why the CRC from the MMU never matched all the other sides (unit tests and the MK3S)
+    // It is because this was the only place where the original request kept its value2 non-zero.
+    // In the response, we must make sure value2 is actually zero unless being sent along with it (which is not right now)
+    const ResponseMsg rsp(RequestMsg(msg.code, msg.value), ar, 0); // this needs some cleanup @@TODO - check assembly how bad is it
+    uint8_t i = BeginEncodeRequest(rsp.request, txbuff);
+    txbuff[i] = (uint8_t)ar;
+    ++i;
+    i += AppendCRC(rsp.getCRC(), txbuff + i);
+    txbuff[i] = '\n';
+    ++i;
+    return i;
+  }
+
+  uint8_t Protocol::EncodeResponseReadFINDA(const RequestMsg &msg, uint8_t findaValue, uint8_t *txbuff) {
+    return EncodeResponseRead(msg, true, findaValue, txbuff);
+  }
+
+  uint8_t Protocol::EncodeResponseQueryOperation(const RequestMsg &msg, ResponseCommandStatus rcs, uint8_t *txbuff) {
+    const ResponseMsg rsp(msg, rcs.code, rcs.value);
+    uint8_t i = BeginEncodeRequest(msg, txbuff);
+    txbuff[i] = (uint8_t)rsp.paramCode;
+    ++i;
+    i += UInt16ToHex(rsp.paramValue, txbuff + i);
+    i += AppendCRC(rsp.getCRC(), txbuff + i);
+    txbuff[i] = '\n';
+    return i + 1;
+  }
+
+  uint8_t Protocol::EncodeResponseRead(const RequestMsg &msg, bool accepted, uint16_t value2, uint8_t *txbuff) {
+    const ResponseMsg rsp(msg,
+                          accepted ? ResponseMsgParamCodes::Accepted : ResponseMsgParamCodes::Rejected,
+                          accepted ? value2 : 0 // be careful about this value for CRC computation - rejected status doesn't have any meaningful value which could be reconstructed from the textual form of the message
+                          );
+    uint8_t i = BeginEncodeRequest(msg, txbuff);
+    txbuff[i] = (uint8_t)rsp.paramCode;
+    ++i;
+    if (accepted)
+      // dump the value
+      i += UInt16ToHex(value2, txbuff + i);
+    i += AppendCRC(rsp.getCRC(), txbuff + i);
+    txbuff[i] = '\n';
+    return i + 1;
+  }
+
+  uint8_t Protocol::UInt8ToHex(uint8_t value, uint8_t *dst) {
+    if (value == 0) {
+      *dst = '0';
+      return 1;
+    }
+
+    uint8_t v = value >> 4U;
+    uint8_t charsOut = 1;
+    if (v != 0) { // skip the first '0' if any
+      *dst = Nibble2Char(v);
+      ++dst;
+      charsOut = 2;
+    }
+    v = value & 0xfU;
+    *dst = Nibble2Char(v);
+    return charsOut;
+  }
+
+  uint8_t Protocol::UInt16ToHex(uint16_t value, uint8_t *dst) {
+    constexpr uint16_t topNibbleMask = 0xf000;
+    if (value == 0) {
+      *dst = '0';
+      return 1;
+    }
+    // skip initial zeros
+    uint8_t charsOut = 4;
+    while ((value & topNibbleMask) == 0) {
+      value <<= 4U;
+      --charsOut;
+    }
+    for (uint8_t i = 0; i < charsOut; ++i) {
+      uint8_t n = (value & topNibbleMask) >> (8U + 4U);
+      value <<= 4U;
+      *dst = Nibble2Char(n);
+      ++dst;
+    }
+    return charsOut;
+  }
+
+  uint8_t Protocol::BeginEncodeRequest(const RequestMsg &msg, uint8_t *dst) {
+    dst[0] = (uint8_t)msg.code;
+
+    uint8_t i = 1 + UInt8ToHex(msg.value, dst + 1);
+
+    dst[i] = ' ';
+    return i + 1;
+  }
+
+  uint8_t Protocol::AppendCRC(uint8_t crc, uint8_t *dst) {
+    dst[0] = '*'; // reprap-style separator of CRC
+    return 1 + UInt8ToHex(crc, dst + 1);
+  }
+
+} // namespace protocol
+} // namespace modules
+
+#endif // HAS_PRUSA_MMU3
@@ -0,0 +1,318 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2_protocol.h
+ */
+
+#include "../../MarlinCore.h"
+
+#include <stdint.h>
+#include "mmu2_crc.h"
+
+// prevent ARM HAL macros from breaking our code
+#undef CRC
+
+namespace modules {
+
+// @brief The MMU communication protocol implementation and related stuff.
+//
+// See description of the new protocol in the MMU 2021 doc
+namespace protocol {
+
+  // Definition of request message codes
+  enum class RequestMsgCodes : uint8_t {
+    unknown        =   0,
+    Query          = 'Q',
+    Tool           = 'T',
+    Load           = 'L',
+    Mode           = 'M',
+    Unload         = 'U',
+    Reset          = 'X',
+    Finda          = 'P',
+    Version        = 'S',
+    Button         = 'B',
+    Eject          = 'E',
+    Write          = 'W',
+    Cut            = 'K',
+    FilamentType   = 'F',
+    FilamentSensor = 'f',
+    Home           = 'H',
+    Read           = 'R'
+  };
+
+  // Definition of response message parameter codes
+  enum class ResponseMsgParamCodes : uint8_t {
+    unknown    =   0,
+    Processing = 'P',
+    Error      = 'E',
+    Finished   = 'F',
+    Accepted   = 'A',
+    Rejected   = 'R',
+    Button     = 'B'// the MMU registered a button press and is sending it to the printer for processing
+  };
+
+  // A request message - requests are being sent by the printer into the MMU.
+  struct RequestMsg {
+    RequestMsgCodes code; //!< code of the request message
+    uint8_t value; //!< value of the request message or address of variable to read/write
+    uint16_t value2; //!< in case or write messages - value to be written into the register
+
+    // CRC8 check - please note we abuse this byte for CRC of ResponseMsgs as well.
+    // The crc8 byte itself is not added into the CRC computation (obviously ;) )
+    // Beware - adding any members of this data structure may need changing the way CRC is being computed!
+    uint8_t crc8;
+
+    constexpr uint8_t ComputeCRC8() const {
+      uint8_t crc = 0;
+      crc = modules::crc::CRC8::CCITT_updateCX(0, (uint8_t)code);
+      crc = modules::crc::CRC8::CCITT_updateCX(crc, value);
+      crc = modules::crc::CRC8::CCITT_updateW(crc, value2);
+      return crc;
+    }
+
+    // @param code of the request message
+    // @param value of the request message
+    inline constexpr RequestMsg(RequestMsgCodes code, uint8_t value)
+      : code(code)
+      , value(value)
+      , value2(0)
+      , crc8(ComputeCRC8()) {
+    }
+
+    // Intended for write requests
+    // @param code of the request message ('W')
+    // @param address of the register
+    // @param value to write into the register
+    inline constexpr RequestMsg(RequestMsgCodes code, uint8_t address, uint16_t value)
+      : code(code)
+      , value(address)
+      , value2(value)
+      , crc8(ComputeCRC8()) {}
+
+    constexpr uint8_t getCRC() const { return crc8; }
+  };
+
+  // A response message - responses are being sent from the MMU into the printer as a response to a request message.
+  struct ResponseMsg {
+    RequestMsg request; //!< response is always preceeded by the request message
+    ResponseMsgParamCodes paramCode; //!< code of the parameter
+    uint16_t paramValue; //!< value of the parameter
+
+    constexpr uint8_t ComputeCRC8() const {
+      uint8_t crc = request.ComputeCRC8();
+      crc = modules::crc::CRC8::CCITT_updateCX(crc, (uint8_t)paramCode);
+      crc = modules::crc::CRC8::CCITT_updateW(crc, paramValue);
+      return crc;
+    }
+
+    // @param request the source request message this response is a reply to
+    // @param paramCode code of the parameter
+    // @param paramValue value of the parameter
+    inline constexpr ResponseMsg(RequestMsg request, ResponseMsgParamCodes paramCode, uint16_t paramValue)
+      : request(request)
+      , paramCode(paramCode)
+      , paramValue(paramValue) {
+      this->request.crc8 = ComputeCRC8();
+    }
+
+    constexpr uint8_t getCRC() const { return request.crc8; }
+  };
+
+  // Combined commandStatus and its value into one data structure (optimization purposes)
+  struct ResponseCommandStatus {
+    ResponseMsgParamCodes code;
+    uint16_t value;
+    inline constexpr ResponseCommandStatus(ResponseMsgParamCodes code, uint16_t value)
+      : code(code)
+      , value(value) {}
+  };
+
+  // Message decoding return values
+  enum class DecodeStatus : uint_fast8_t {
+    MessageCompleted, //!< message completed and successfully lexed
+    NeedMoreData, //!< message incomplete yet, waiting for another byte to come
+    Error, //!< input character broke message decoding
+  };
+
+  // Protocol class is responsible for creating/decoding messages in Rx/Tx buffer
+  //
+  // Beware - in the decoding more, it is meant to be a statefull instance which works through public methods
+  // processing one input byte per call.
+  class Protocol {
+  public:
+    Protocol()
+      : rqState(RequestStates::Code)
+      , requestMsg(RequestMsgCodes::unknown, 0)
+      , rspState(ResponseStates::RequestCode)
+      , responseMsg(RequestMsg(RequestMsgCodes::unknown, 0), ResponseMsgParamCodes::unknown, 0) {}
+
+    // Takes the input byte c and steps one step through the state machine
+    // @return state of the message being decoded
+    DecodeStatus DecodeRequest(uint8_t c);
+
+    // Decodes response message in rxbuff
+    // @return decoded response message structure
+    DecodeStatus DecodeResponse(uint8_t c);
+
+    // Encodes request message msg into txbuff memory
+    // It is expected the txbuff is large enough to fit the message
+    // @return number of bytes written into txbuff
+    static uint8_t EncodeRequest(const RequestMsg &msg, uint8_t *txbuff);
+
+    // Encodes Write request message msg into txbuff memory
+    // It is expected the txbuff is large enough to fit the message
+    // @return number of bytes written into txbuff
+    static uint8_t EncodeWriteRequest(uint8_t address, uint16_t value, uint8_t *txbuff);
+
+    // @return the maximum byte length necessary to encode a request message
+    // Beneficial in case of pre-allocating a buffer for enconding a RequestMsg.
+    static constexpr uint8_t MaxRequestSize() { return 13; }
+
+    // @return the maximum byte length necessary to encode a response message
+    // Beneficial in case of pre-allocating a buffer for enconding a ResponseMsg.
+    static constexpr uint8_t MaxResponseSize() { return 14; }
+
+    // Encode generic response Command Accepted or Rejected
+    // @param msg source request message for this response
+    // @param ar code of response parameter
+    // @param txbuff where to format the message
+    // @return number of bytes written into txbuff
+    static uint8_t EncodeResponseCmdAR(const RequestMsg &msg, ResponseMsgParamCodes ar, uint8_t *txbuff);
+
+    // Encode response to Read FINDA query
+    // @param msg source request message for this response
+    // @param findaValue 1/0 (on/off) status of FINDA
+    // @param txbuff where to format the message
+    // @return number of bytes written into txbuff
+    static uint8_t EncodeResponseReadFINDA(const RequestMsg &msg, uint8_t findaValue, uint8_t *txbuff);
+
+    // Encode response to Version query
+    // @param msg source request message for this response
+    // @param value version number (0-255)
+    // @param txbuff where to format the message
+    // @return number of bytes written into txbuff
+    static uint8_t EncodeResponseVersion(const RequestMsg &msg, uint16_t value, uint8_t *txbuff);
+
+    // Encode response to Query operation status
+    // @param msg source request message for this response
+    // @param code status of operation (Processing, Error, Finished)
+    // @param value related to status of operation(e.g. error code or progress)
+    // @param txbuff where to format the message
+    // @return number of bytes written into txbuff
+    static uint8_t EncodeResponseQueryOperation(const RequestMsg &msg, ResponseCommandStatus rcs, uint8_t *txbuff);
+
+    // Encode response to Read query
+    // @param msg source request message for this response
+    // @param accepted true if the read query was accepted
+    // @param value2 variable value
+    // @param txbuff where to format the message
+    // @return number of bytes written into txbuff
+    static uint8_t EncodeResponseRead(const RequestMsg &msg, bool accepted, uint16_t value2, uint8_t *txbuff);
+
+    // @return the most recently lexed request message
+    inline const RequestMsg GetRequestMsg() const { return requestMsg; }
+
+    // @return the most recently lexed response message
+    inline const ResponseMsg GetResponseMsg() const { return responseMsg; }
+
+    // resets the internal request decoding state (typically after an error)
+    void ResetRequestDecoder() {
+      rqState = RequestStates::Code;
+    }
+
+    // resets the internal response decoding state (typically after an error)
+    void ResetResponseDecoder() {
+      rspState = ResponseStates::RequestCode;
+    }
+
+    #ifndef UNITTEST
+      private:
+    #endif
+
+    enum class RequestStates : uint8_t {
+      Code,       //!< starting state - expects message code
+      Value,      //!< expecting code value
+      Address,    //!< expecting address for Write command
+      WriteValue, //!< value to be written (Write command)
+      CRC,        //!< CRC
+      Error       //!< automaton in error state
+    };
+
+    RequestStates rqState;
+    RequestMsg requestMsg;
+
+    enum class ResponseStates : uint8_t {
+      RequestCode,  //!< starting state - expects message code
+      RequestValue, //!< expecting code value
+      ParamCode,    //!< expecting param code
+      ParamValue,   //!< expecting param value
+      CRC,          //!< expecting CRC value
+      Error         //!< automaton in error state
+    };
+
+    ResponseStates rspState;
+    ResponseMsg responseMsg;
+
+    static constexpr bool IsNewLine(uint8_t c) {
+      return c == '\n' || c == '\r';
+    }
+    static constexpr bool IsDigit(uint8_t c) {
+      return c >= '0' && c <= '9';
+    }
+    static constexpr bool IsCRCSeparator(uint8_t c) {
+      return c == '*';
+    }
+    static constexpr bool IsHexDigit(uint8_t c) {
+      return (c >= '0' && c <= '9') || (c >= 'a' && c <= 'f');
+    }
+    static constexpr uint8_t Char2Nibble(uint8_t c) {
+      switch (c) {
+        case '0' ... '9': return c - '0';
+        case 'a' ... 'f': return c - 'a' + 10;
+        default: return 0;
+      }
+    }
+
+    static constexpr uint8_t Nibble2Char(uint8_t n) {
+      switch (n) {
+        case 0x0 ... 0x9: return n + '0';
+        case 0xA ... 0xF: return n - 10 + 'a';
+        default: return 0;
+      }
+    }
+
+    // @return number of characters written
+    static uint8_t UInt8ToHex(uint8_t value, uint8_t *dst);
+
+    // @return number of characters written
+    static uint8_t UInt16ToHex(uint16_t value, uint8_t *dst);
+
+    static uint8_t BeginEncodeRequest(const RequestMsg &msg, uint8_t *dst);
+
+    static uint8_t AppendCRC(uint8_t crc, uint8_t *dst);
+  };
+
+} // namespace protocol
+} // namespace modules
+
@@ -0,0 +1,899 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * mmu2_protocol_logic.cpp
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_PRUSA_MMU3
+
+#include "mmu2_protocol_logic.h"
+#include "mmu2_log.h"
+#include "mmu2_fsensor.h"
+
+  #ifdef __AVR__
+    // on MK3/S/+ we shuffle the timers a bit, thus "_millis" may not equal "millis"
+    // #include "system_timer.h"
+    #define _millis millis
+  #else
+    // irrelevant on Buddy FW, just keep "_millis" as "millis"
+    // #include <wiring_time.h>
+    #define _millis millis
+    #ifdef UNITTEST
+      #define strncmp_P strncmp
+    #else
+      #include "../../core/serial.h"
+    #endif
+  #endif
+
+  #include <string.h>
+  #include "mmu2_supported_version.h"
+
+namespace MMU3 {
+
+  static constexpr uint8_t supportedMmuFWVersion[] PROGMEM = { mmuVersionMajor, mmuVersionMinor, mmuVersionPatch };
+
+  const Register ProtocolLogic::regs8Addrs[ProtocolLogic::regs8Count] PROGMEM = {
+    Register::FINDA_State,            // FINDA state
+    Register::Set_Get_Selector_Slot,  // Selector slot
+    Register::Set_Get_Idler_Slot,     // Idler slot
+  };
+
+  const Register ProtocolLogic::regs16Addrs[ProtocolLogic::regs16Count] PROGMEM = {
+    Register::MMU_Errors,             // MMU errors - aka statistics
+    Register::Get_Pulley_Position,    // Pulley position [mm]
+  };
+
+  const Register ProtocolLogic::initRegs8Addrs[ProtocolLogic::initRegs8Count] PROGMEM = {
+    Register::Extra_Load_Distance,    // Extra load distance [mm]
+    Register::Pulley_Slow_Feedrate,   // Pulley slow feedrate [mm/s]
+  };
+
+  void ProtocolLogic::CheckAndReportAsyncEvents() {
+    // even when waiting for a query period, we need to report a change in filament sensor's state
+    // - it is vital for a precise synchronization of moves of the printer and the MMU
+    uint8_t fs = (uint8_t)WhereIsFilament();
+    if (fs != lastFSensor)
+      SendAndUpdateFilamentSensor();
+  }
+
+  void ProtocolLogic::SendQuery() {
+    SendMsg(RequestMsg(RequestMsgCodes::Query, 0));
+    scopeState = ScopeState::QuerySent;
+  }
+
+  void ProtocolLogic::StartReading8bitRegisters() {
+    regIndex = 0;
+    SendReadRegister(pgm_read_byte(regs8Addrs + regIndex), ScopeState::Reading8bitRegisters);
+  }
+
+  void ProtocolLogic::ProcessRead8bitRegister() {
+    regs8[regIndex] = rsp.paramValue;
+    ++regIndex;
+    if (regIndex >= regs8Count)
+      // proceed with reading 16bit registers
+      StartReading16bitRegisters();
+    else
+      SendReadRegister(pgm_read_byte(regs8Addrs + regIndex), ScopeState::Reading8bitRegisters);
+  }
+
+  void ProtocolLogic::StartReading16bitRegisters() {
+    regIndex = 0;
+    SendReadRegister(pgm_read_byte(regs16Addrs + regIndex), ScopeState::Reading16bitRegisters);
+  }
+
+  ProtocolLogic::ScopeState __attribute__((noinline)) ProtocolLogic::ProcessRead16bitRegister(ProtocolLogic::ScopeState stateAtEnd) {
+    regs16[regIndex] = rsp.paramValue;
+    ++regIndex;
+    if (regIndex >= regs16Count)
+      return stateAtEnd;
+    else
+      SendReadRegister(pgm_read_byte(regs16Addrs + regIndex), ScopeState::Reading16bitRegisters);
+    return ScopeState::Reading16bitRegisters;
+  }
+
+  void ProtocolLogic::StartWritingInitRegisters() {
+    regIndex = 0;
+    SendWriteRegister(pgm_read_byte(initRegs8Addrs + regIndex), initRegs8[regIndex], ScopeState::WritingInitRegisters);
+  }
+
+  bool __attribute__((noinline)) ProtocolLogic::ProcessWritingInitRegister() {
+    ++regIndex;
+    if (regIndex >= initRegs8Count)
+      return true;
+    else
+      SendWriteRegister(pgm_read_byte(initRegs8Addrs + regIndex), initRegs8[regIndex], ScopeState::WritingInitRegisters);
+    return false;
+  }
+
+  void ProtocolLogic::SendAndUpdateFilamentSensor() {
+    SendMsg(RequestMsg(RequestMsgCodes::FilamentSensor, lastFSensor = (uint8_t)WhereIsFilament()));
+    scopeState = ScopeState::FilamentSensorStateSent;
+  }
+
+  void ProtocolLogic::SendButton(uint8_t btn) {
+    SendMsg(RequestMsg(RequestMsgCodes::Button, btn));
+    scopeState = ScopeState::ButtonSent;
+  }
+
+  void ProtocolLogic::SendVersion(uint8_t stage) {
+    SendMsg(RequestMsg(RequestMsgCodes::Version, stage));
+    scopeState = (ScopeState)((uint_fast8_t)ScopeState::S0Sent + stage);
+  }
+
+  void ProtocolLogic::SendReadRegister(uint8_t index, ScopeState nextState) {
+    SendMsg(RequestMsg(RequestMsgCodes::Read, index));
+    scopeState = nextState;
+  }
+
+  void ProtocolLogic::SendWriteRegister(uint8_t index, uint16_t value, ScopeState nextState) {
+    SendWriteMsg(RequestMsg(RequestMsgCodes::Write, index, value));
+    scopeState = nextState;
+  }
+
+  // searches for "ok\n" in the incoming serial data (that's the usual response of the old MMU FW)
+  struct OldMMUFWDetector {
+    uint8_t ok;
+    inline constexpr OldMMUFWDetector()
+      : ok(0) {}
+
+    enum class State : uint8_t {
+      MatchingPart,
+      SomethingElse,
+      Matched
+    };
+
+    // @return true when "ok\n" gets detected
+    State Detect(uint8_t c) {
+      // consume old MMU FW's data if any -> avoid confusion of protocol decoder
+      if (ok == 0 && c == 'o') {
+        ++ok;
+        return State::MatchingPart;
+      }
+      else if (ok == 1 && c == 'k') {
+        ++ok;
+        return State::Matched;
+      }
+      return State::SomethingElse;
+    }
+  };
+
+  StepStatus ProtocolLogic::ExpectingMessage() {
+    int bytesConsumed = 0;
+    int c = -1;
+
+    OldMMUFWDetector oldMMUh4x0r; // old MMU FW hacker ;)
+
+    // try to consume as many rx bytes as possible (until a message has been completed)
+    while ((c = MMU2_SERIAL.read()) >= 0) {
+      ++bytesConsumed;
+      RecordReceivedByte(c);
+      switch (protocol.DecodeResponse(c)) {
+        case DecodeStatus::MessageCompleted:
+          rsp = protocol.GetResponseMsg();
+          LogResponse();
+          // @@TODO reset direction of communication
+          RecordUARTActivity(); // something has happened on the UART, update the timeout record
+          return MessageReady;
+        case DecodeStatus::NeedMoreData:
+          break;
+        case DecodeStatus::Error: {
+          // consume old MMU FW's data if any -> avoid confusion of protocol decoder
+          auto old = oldMMUh4x0r.Detect(c);
+          if (old == OldMMUFWDetector::State::Matched)
+            // Old MMU FW 1.0.6 detected. Firmwares are incompatible.
+            return VersionMismatch;
+          else if (old == OldMMUFWDetector::State::MatchingPart)
+            break;
+        }
+        // [[fallthrough]];      // otherwise
+        // fall through
+        default:
+          RecordUARTActivity(); // something has happened on the UART, update the timeout record
+          return ProtocolError;
+      }
+    }
+    if (bytesConsumed != 0) {
+      RecordUARTActivity(); // something has happened on the UART, update the timeout record
+      return Processing;  // consumed some bytes, but message still not ready
+    }
+    else if (Elapsed(linkLayerTimeout) && currentScope != Scope::Stopped) {
+      return CommunicationTimeout;
+    }
+    return Processing;
+  }
+
+  void ProtocolLogic::SendMsg(RequestMsg rq) {
+    #if defined(__AVR__) || defined(TARGET_LPC1768)
+      // Buddy FW cannot use stack-allocated txbuff - DMA doesn't work with CCMRAM
+      // No restrictions on MK3/S/+ though
+      uint8_t txbuff[Protocol::MaxRequestSize()];
+    #endif
+    uint8_t len = Protocol::EncodeRequest(rq, txbuff);
+    #if defined(__AVR__) || defined(TARGET_LPC1768)
+      // TODO: I'm not sure if this is the correct approach with AVR
+      for ( uint8_t i = 0; i < len; i++) {
+        MMU2_SERIAL.write(txbuff[i]);
+      }
+    #else
+      MMU2_SERIAL.write(txbuff, len);
+    #endif
+    LogRequestMsg(txbuff, len);
+    RecordUARTActivity();
+  }
+
+  void ProtocolLogic::SendWriteMsg(RequestMsg rq) {
+    #if defined(__AVR__) || defined(TARGET_LPC1768)
+      // Buddy FW cannot use stack-allocated txbuff - DMA doesn't work with CCMRAM
+      // No restrictions on MK3/S/+ though
+      uint8_t txbuff[Protocol::MaxRequestSize()];
+    #endif
+    uint8_t len = Protocol::EncodeWriteRequest(rq.value, rq.value2, txbuff);
+
+    #if defined(__AVR__) || defined(TARGET_LPC1768)
+      // TODO: I'm not sure if this is the correct approach with AVR
+      for ( uint8_t i = 0; i < len; i++) {
+        MMU2_SERIAL.write(txbuff[i]);
+      }
+    #else
+      MMU2_SERIAL.write(txbuff, len);
+    #endif
+    LogRequestMsg(txbuff, len);
+    RecordUARTActivity();
+  }
+
+  void ProtocolLogic::StartSeqRestart() {
+    retries = maxRetries;
+    SendVersion(0);
+  }
+
+  void ProtocolLogic::DelayedRestartRestart() {
+    scopeState = ScopeState::RecoveringProtocolError;
+  }
+
+  void ProtocolLogic::CommandRestart() {
+    scopeState = ScopeState::CommandSent;
+    SendMsg(rq);
+  }
+
+  void ProtocolLogic::IdleRestart() {
+    scopeState = ScopeState::Ready;
+  }
+
+  StepStatus ProtocolLogic::ProcessVersionResponse(uint8_t stage) {
+    if (rsp.request.code != RequestMsgCodes::Version || rsp.request.value != stage) {
+      // got a response to something else - protocol corruption probably, repeat the query OR restart the comm by issuing S0?
+      SendVersion(stage);
+    }
+    else {
+      mmuFwVersion[stage] = rsp.paramValue;
+      if (mmuFwVersion[stage] != pgm_read_byte(&supportedMmuFWVersion[stage])) {
+        if (--retries == 0) return VersionMismatch;
+        SendVersion(stage);
+      }
+      else {
+        ResetCommunicationTimeoutAttempts(); // got a meaningful response from the MMU, stop data layer timeout tracking
+        SendVersion(stage + 1);
+      }
+    }
+    return Processing;
+  }
+
+  StepStatus ProtocolLogic::ScopeStep() {
+    if (!ExpectsResponse()) {
+      // we are waiting for something
+      switch (currentScope) {
+        case Scope::DelayedRestart:
+          return DelayedRestartWait();
+        case Scope::Idle:
+          return IdleWait();
+        case Scope::Command:
+          return CommandWait();
+        case Scope::Stopped:
+          return StoppedStep();
+        default:
+          break;
+      }
+    }
+    else {
+      // we are expecting a message
+      auto expmsg = ExpectingMessage();
+      if (expmsg != MessageReady)
+        return expmsg;
+
+      // process message
+      switch (currentScope) {
+        case Scope::StartSeq:
+          return StartSeqStep(); // ~270B
+        case Scope::Idle:
+          return IdleStep(); // ~300B
+        case Scope::Command:
+          return CommandStep(); // ~430B
+        case Scope::Stopped:
+          return StoppedStep();
+        default:
+          break;
+      }
+    }
+    return Finished;
+  }
+
+  StepStatus ProtocolLogic::StartSeqStep() {
+    // solve initial handshake
+    switch (scopeState) {
+      case ScopeState::S0Sent: // received response to S0 - major
+      case ScopeState::S1Sent: // received response to S1 - minor
+      case ScopeState::S2Sent: // received response to S2 - patch
+        return ProcessVersionResponse((uint8_t)scopeState - (uint8_t)ScopeState::S0Sent);
+      case ScopeState::S3Sent: // received response to S3 - revision
+        if (rsp.request.code != RequestMsgCodes::Version || rsp.request.value != 3) {
+          // got a response to something else - protocol corruption probably, repeat the query OR restart the comm by issuing S0?
+          SendVersion(3);
+        }
+        else {
+          mmuFwVersionBuild = rsp.paramValue; // just register the build number
+          // Start General Interrogation after line up - initial parametrization is started
+          StartWritingInitRegisters();
+        }
+        return Processing;
+      case ScopeState::WritingInitRegisters:
+        if (ProcessWritingInitRegister())
+          SendAndUpdateFilamentSensor();
+        return Processing;
+      case ScopeState::FilamentSensorStateSent:
+        SwitchFromStartToIdle();
+        return Processing; // Returning Finished is not a good idea in case of a fast error recovery
+      // - it tells the printer, that the command which experienced a protocol error and recovered successfully actually terminated.
+      // In such a case we must return "Processing" in order to keep the MMU state machine running and prevent the printer from executing next G-codes.
+      default:
+        return VersionMismatch;
+    }
+  }
+
+  StepStatus ProtocolLogic::DelayedRestartWait() {
+    if (Elapsed(heartBeatPeriod)) { // this basically means, that we are waiting until there is some traffic on
+      while (MMU2_SERIAL.read() != -1); // clear the input buffer
+      // switch to StartSeq
+      start();
+    }
+    return Processing;
+  }
+
+  StepStatus ProtocolLogic::CommandWait() {
+    if (Elapsed(heartBeatPeriod))
+      SendQuery();
+    else
+      // even when waiting for a query period, we need to report a change in filament sensor's state
+      // - it is vital for a precise synchronization of moves of the printer and the MMU
+      CheckAndReportAsyncEvents();
+    return Processing;
+  }
+
+  StepStatus ProtocolLogic::ProcessCommandQueryResponse() {
+    switch (rsp.paramCode) {
+      case ResponseMsgParamCodes::Processing:
+        progressCode = static_cast<ProgressCode>(rsp.paramValue);
+        errorCode = ErrorCode::OK;
+        SendAndUpdateFilamentSensor(); // keep on reporting the state of fsensor regularly
+        return Processing;
+      case ResponseMsgParamCodes::Error:
+        // in case of an error the progress code remains as it has been before
+        progressCode = ProgressCode::ERRWaitingForUser;
+        errorCode = static_cast<ErrorCode>(rsp.paramValue);
+        // keep on reporting the state of fsensor regularly even in command error state
+        // - the MMU checks FINDA and fsensor even while recovering from errors
+        SendAndUpdateFilamentSensor();
+        return CommandError;
+      case ResponseMsgParamCodes::Button:
+        // The user pushed a button on the MMU. Save it, do what we need to do
+        // to prepare, then pass it back to the MMU so it can work its magic.
+        buttonCode = static_cast<Buttons>(rsp.paramValue);
+        SendAndUpdateFilamentSensor();
+        return ButtonPushed;
+      case ResponseMsgParamCodes::Finished:
+        // We must check whether the "finished" is actually related to the command issued into the MMU
+        // It can also be an X0 F which means MMU just successfully restarted.
+        if (ReqMsg().code == rsp.request.code && ReqMsg().value == rsp.request.value) {
+          progressCode = ProgressCode::OK;
+          errorCode = ErrorCode::OK;
+          scopeState = ScopeState::Ready;
+          rq = RequestMsg(RequestMsgCodes::unknown, 0); // clear the successfully finished request
+          return Finished;
+        }
+        else {
+          // got response to some other command - the originally issued command was interrupted!
+          return Interrupted;
+        }
+      default:
+        return ProtocolError;
+    }
+  }
+
+  StepStatus ProtocolLogic::CommandStep() {
+    switch (scopeState) {
+      case ScopeState::CommandSent: {
+        switch (rsp.paramCode) { // the response should be either accepted or rejected
+          case ResponseMsgParamCodes::Accepted:
+            progressCode = ProgressCode::OK;
+            errorCode = ErrorCode::RUNNING;
+            scopeState = ScopeState::Wait;
+            break;
+          case ResponseMsgParamCodes::Rejected:
+            // rejected - should normally not happen, but report the error up
+            progressCode = ProgressCode::OK;
+            errorCode = ErrorCode::PROTOCOL_ERROR;
+            return CommandRejected;
+          default:
+            return ProtocolError;
+        }
+      }
+      break;
+      case ScopeState::QuerySent:
+        return ProcessCommandQueryResponse();
+      case ScopeState::FilamentSensorStateSent:
+        StartReading8bitRegisters();
+        return Processing;
+      case ScopeState::Reading8bitRegisters:
+        ProcessRead8bitRegister();
+        return Processing;
+      case ScopeState::Reading16bitRegisters:
+        scopeState = ProcessRead16bitRegister(ScopeState::Wait);
+        return Processing;
+      case ScopeState::ButtonSent:
+        if (rsp.paramCode == ResponseMsgParamCodes::Accepted)
+          // Button was accepted, decrement the retry.
+          DecrementRetryAttempts();
+        SendAndUpdateFilamentSensor();
+        break;
+      default:
+        return ProtocolError;
+    }
+    return Processing;
+  }
+
+  StepStatus ProtocolLogic::IdleWait() {
+    if (scopeState == ScopeState::Ready) { // check timeout
+      if (Elapsed(heartBeatPeriod)) {
+        SendQuery();
+        return Processing;
+      }
+    }
+    return Finished;
+  }
+
+  StepStatus ProtocolLogic::IdleStep() {
+    switch (scopeState) {
+      case ScopeState::QuerySent: // check UART
+        // If we are accidentally in Idle and we receive something like "T0 P1" - that means the communication dropped out while a command was in progress.
+        // That causes no issues here, we just need to switch to Command processing and continue there from now on.
+        // The usual response in this case should be some command and "F" - finished - that confirms we are in an Idle state even on the MMU side.
+        switch (rsp.request.code) {
+          case RequestMsgCodes::Cut:
+          case RequestMsgCodes::Eject:
+          case RequestMsgCodes::Load:
+          case RequestMsgCodes::Mode:
+          case RequestMsgCodes::Tool:
+          case RequestMsgCodes::Unload:
+            if (rsp.paramCode != ResponseMsgParamCodes::Finished)
+              return SwitchFromIdleToCommand();
+            break;
+          case RequestMsgCodes::Reset:
+            // this one is kind of special
+            // we do not transfer to any "running" command (i.e. we stay in Idle),
+            // but in case there is an error reported we must make sure it gets propagated
+            switch (rsp.paramCode) {
+              case ResponseMsgParamCodes::Button:
+                // The user pushed a button on the MMU. Save it, do what we need to do
+                // to prepare, then pass it back to the MMU so it can work its magic.
+                buttonCode = static_cast<Buttons>(rsp.paramValue);
+                StartReading8bitRegisters();
+                return ButtonPushed;
+              case ResponseMsgParamCodes::Finished:
+                if (ReqMsg().code != RequestMsgCodes::unknown) {
+                  // got reset while doing some other command - the originally issued command was interrupted!
+                  // this must be solved by the upper layer, protocol logic doesn't have all the context (like unload before trying again)
+                  IdleRestart();
+                  return Interrupted;
+                }
+              // [[fallthrough]];
+              // fall through
+              case ResponseMsgParamCodes::Processing:
+                // @@TODO we may actually use this branch to report progress of manual operation on the MMU
+                // The MMU sends e.g. X0 P27 after its restart when the user presses an MMU button to move the Selector
+                progressCode = static_cast<ProgressCode>(rsp.paramValue);
+                errorCode = ErrorCode::OK;
+                break;
+              default:
+                progressCode = ProgressCode::ERRWaitingForUser;
+                errorCode = static_cast<ErrorCode>(rsp.paramValue);
+                StartReading8bitRegisters(); // continue Idle state without restarting the communication
+                return CommandError;
+            }
+            break;
+          default:
+            return ProtocolError;
+        }
+        StartReading8bitRegisters();
+        return Processing;
+      case ScopeState::Reading8bitRegisters:
+        ProcessRead8bitRegister();
+        return Processing;
+      case ScopeState::Reading16bitRegisters:
+        scopeState = ProcessRead16bitRegister(ScopeState::Ready);
+        return scopeState == ScopeState::Ready ? Finished : Processing;
+      case ScopeState::ButtonSent:
+        if (rsp.paramCode == ResponseMsgParamCodes::Accepted)
+          // Button was accepted, decrement the retry.
+          DecrementRetryAttempts();
+        StartReading8bitRegisters();
+        return Processing;
+      case ScopeState::ReadRegisterSent:
+        if (rsp.paramCode == ResponseMsgParamCodes::Accepted) {
+          // @@TODO just dump the value onto the serial
+        }
+        return Finished;
+      case ScopeState::WriteRegisterSent:
+        if (rsp.paramCode == ResponseMsgParamCodes::Accepted) {
+          // @@TODO do something? Retry if not accepted?
+        }
+        return Finished;
+      default:
+        return ProtocolError;
+    }
+
+    // The "return Finished" in this state machine requires a bit of explanation:
+    // The Idle state either did nothing (still waiting for the heartbeat timeout)
+    // or just successfully received the answer to Q0, whatever that was.
+    // In both cases, it is ready to hand over work to a command or something else,
+    // therefore we are returning Finished (also to exit mmu_loop() and unblock Marlin's loop!).
+    // If there is no work, we'll end up in the Idle state again
+    // and we'll send the heartbeat message after the specified timeout.
+    return Finished;
+  }
+
+  ProtocolLogic::ProtocolLogic(uint8_t extraLoadDistance, uint8_t pulleySlowFeedrate)
+    : explicitPrinterError(ErrorCode::OK)
+    , currentScope(Scope::Stopped)
+    , scopeState(ScopeState::Ready)
+    , plannedRq(RequestMsgCodes::unknown, 0)
+    , lastUARTActivityMs(0)
+    , dataTO()
+    , rsp(RequestMsg(RequestMsgCodes::unknown, 0), ResponseMsgParamCodes::unknown, 0)
+    , state(State::Stopped)
+    , lrb(0)
+    , errorCode(ErrorCode::OK)
+    , progressCode(ProgressCode::OK)
+    , buttonCode(Buttons::NoButton)
+    , lastFSensor((uint8_t)WhereIsFilament())
+    , regIndex(0)
+    , retryAttempts(MMU2_MAX_RETRIES)
+    , inAutoRetry(false) {
+    // @@TODO currently, I don't see a way of writing the initialization better :(
+    // I'd like to write something like: initRegs8 { extraLoadDistance, pulleySlowFeedrate }
+    // avr-gcc seems to like such a syntax, ARM gcc doesn't
+    initRegs8[0] = extraLoadDistance;
+    initRegs8[1] = pulleySlowFeedrate;
+  }
+
+  void ProtocolLogic::start() {
+    state = State::InitSequence;
+    currentScope = Scope::StartSeq;
+    protocol.ResetResponseDecoder(); // important - finished delayed restart relies on this
+    StartSeqRestart();
+  }
+
+  void ProtocolLogic::stop() {
+    state = State::Stopped;
+    currentScope = Scope::Stopped;
+  }
+
+  void ProtocolLogic::ToolChange(uint8_t slot) {
+    PlanGenericRequest(RequestMsg(RequestMsgCodes::Tool, slot));
+  }
+
+  void ProtocolLogic::Statistics() {
+    PlanGenericRequest(RequestMsg(RequestMsgCodes::Version, 3));
+  }
+
+  void ProtocolLogic::UnloadFilament() {
+    PlanGenericRequest(RequestMsg(RequestMsgCodes::Unload, 0));
+  }
+
+  void ProtocolLogic::LoadFilament(uint8_t slot) {
+    PlanGenericRequest(RequestMsg(RequestMsgCodes::Load, slot));
+  }
+
+  void ProtocolLogic::EjectFilament(uint8_t slot) {
+    PlanGenericRequest(RequestMsg(RequestMsgCodes::Eject, slot));
+  }
+
+  void ProtocolLogic::CutFilament(uint8_t slot) {
+    PlanGenericRequest(RequestMsg(RequestMsgCodes::Cut, slot));
+  }
+
+  void ProtocolLogic::ResetMMU(uint8_t mode /* = 0 */) {
+    PlanGenericRequest(RequestMsg(RequestMsgCodes::Reset, mode));
+  }
+
+  void ProtocolLogic::button(uint8_t index) {
+    PlanGenericRequest(RequestMsg(RequestMsgCodes::Button, index));
+  }
+
+  void ProtocolLogic::home(uint8_t mode) {
+    PlanGenericRequest(RequestMsg(RequestMsgCodes::Home, mode));
+  }
+
+  void ProtocolLogic::readRegister(uint8_t address) {
+    PlanGenericRequest(RequestMsg(RequestMsgCodes::Read, address));
+  }
+
+  void ProtocolLogic::writeRegister(uint8_t address, uint16_t data) {
+    PlanGenericRequest(RequestMsg(RequestMsgCodes::Write, address, data));
+  }
+
+  void ProtocolLogic::PlanGenericRequest(RequestMsg rq) {
+    plannedRq = rq;
+    if (!ExpectsResponse())
+      ActivatePlannedRequest();
+    // otherwise wait for an empty window to activate the request
+  }
+
+  bool ProtocolLogic::ActivatePlannedRequest() {
+    switch (plannedRq.code) {
+      case RequestMsgCodes::Button:
+        // only issue the button to the MMU and do not restart the state machines
+        SendButton(plannedRq.value);
+        plannedRq = RequestMsg(RequestMsgCodes::unknown, 0);
+        return true;
+      case RequestMsgCodes::Read:
+        SendReadRegister(plannedRq.value, ScopeState::ReadRegisterSent);
+        plannedRq = RequestMsg(RequestMsgCodes::unknown, 0);
+        return true;
+      case RequestMsgCodes::Write:
+        SendWriteRegister(plannedRq.value, plannedRq.value2, ScopeState::WriteRegisterSent);
+        plannedRq = RequestMsg(RequestMsgCodes::unknown, 0);
+        return true;
+      case RequestMsgCodes::unknown:
+        return false;
+      default: // commands
+        currentScope = Scope::Command;
+        SetRequestMsg(plannedRq);
+        plannedRq = RequestMsg(RequestMsgCodes::unknown, 0);
+        CommandRestart();
+        return true;
+    }
+  }
+
+  StepStatus ProtocolLogic::SwitchFromIdleToCommand() {
+    currentScope = Scope::Command;
+    SetRequestMsg(rsp.request);
+    // we are recovering from a communication drop out, the command is already running
+    // and we have just received a response to a Q0 message about a command progress
+    return ProcessCommandQueryResponse();
+  }
+
+  void ProtocolLogic::SwitchToIdle() {
+    state = State::Running;
+    currentScope = Scope::Idle;
+    IdleRestart();
+  }
+
+  void ProtocolLogic::SwitchFromStartToIdle() {
+    state = State::Running;
+    currentScope = Scope::Idle;
+    IdleRestart();
+    SendQuery(); // force sending Q0 immediately
+  }
+
+  bool ProtocolLogic::Elapsed(uint32_t timeout) const {
+    return _millis() >= (lastUARTActivityMs + timeout);
+  }
+
+  void ProtocolLogic::RecordUARTActivity() {
+    lastUARTActivityMs = _millis();
+  }
+
+  void ProtocolLogic::RecordReceivedByte(uint8_t c) {
+    lastReceivedBytes[lrb] = c;
+    lrb = (lrb + 1) % lastReceivedBytes.size();
+  }
+
+  constexpr char NibbleToChar(uint8_t c) {
+    switch (c) {
+      case 0x0 ... 0x9: return c + '0';
+      case 0xA ... 0xF: return (c - 10) + 'a';
+      default: return 0;
+    }
+  }
+
+  void ProtocolLogic::FormatLastReceivedBytes(char *dst) {
+    for (uint8_t i = 0; i < lastReceivedBytes.size(); ++i) {
+      uint8_t b = lastReceivedBytes[(lrb - i - 1) % lastReceivedBytes.size()];
+      dst[i * 3] = NibbleToChar(b >> 4);
+      dst[i * 3 + 1] = NibbleToChar(b & 0xf);
+      dst[i * 3 + 2] = ' ';
+    }
+    dst[(lastReceivedBytes.size() - 1) * 3 + 2] = 0; // terminate properly
+  }
+
+  void ProtocolLogic::FormatLastResponseMsgAndClearLRB(char *dst) {
+    *dst++ = '<';
+    for (uint8_t i = 0; i < lrb; ++i) {
+      uint8_t b = lastReceivedBytes[i];
+      // Check for printable character, including space
+      if (b < 32 || b > 127)
+        b = '.';
+      *dst++ = b;
+    }
+    *dst = 0; // terminate properly
+    lrb = 0; // reset the input buffer index in case of a clean message
+  }
+
+  void ProtocolLogic::LogRequestMsg(const uint8_t *txbuff, uint8_t size) {
+    constexpr uint_fast8_t rqs = modules::protocol::Protocol::MaxRequestSize() + 1;
+    char tmp[rqs] = ">";
+    static char lastMsg[rqs] = "";
+    for (uint8_t i = 0; i < size; ++i) {
+      uint8_t b = txbuff[i];
+      // Check for printable character, including space
+      if (b < 32 || b > 127)
+        b = '.';
+      tmp[i + 1] = b;
+    }
+    tmp[size + 1] = 0;
+    if (!strncmp_P(tmp, PSTR(">S0*c6."), rqs) && !strncmp(lastMsg, tmp, rqs)) {
+      // @@TODO we skip the repeated request msgs for now
+      // to avoid spoiling the whole log just with ">S0" messages
+      // especially when the MMU is not connected.
+      // We'll lose the ability to see if the printer is actually
+      // trying to find the MMU, but since it has been reliable in the past
+      // we can live without it for now.
+    }
+    else {
+      MMU2_ECHO_MSGLN(tmp);
+    }
+    strncpy(lastMsg, tmp, rqs);
+  }
+
+  void ProtocolLogic::LogError(const char *reason_P) {
+    char lrb[lastReceivedBytes.size() * 3];
+    FormatLastReceivedBytes(lrb);
+
+    MMU2_ERROR_MSGRPGM(reason_P);
+    SERIAL_ECHOPGM(", last bytes: ");
+    SERIAL_ECHOLN(lrb);
+  }
+
+  void ProtocolLogic::LogResponse() {
+    char lrb[lastReceivedBytes.size()];
+    FormatLastResponseMsgAndClearLRB(lrb);
+    MMU2_ECHO_MSGLN(lrb);
+  }
+
+  StepStatus ProtocolLogic::SuppressShortDropOuts(const char *msg_P, StepStatus ss) {
+    if (dataTO.Record(ss)) {
+      LogError(msg_P);
+      ResetCommunicationTimeoutAttempts(); // prepare for another run of consecutive retries before firing an error
+      return dataTO.InitialCause();
+    }
+    else {
+      return Processing; // suppress short drop outs of communication
+    }
+  }
+
+  StepStatus ProtocolLogic::HandleCommunicationTimeout() {
+    MMU2_SERIAL.flush(); // clear the output buffer
+    protocol.ResetResponseDecoder();
+    start();
+    return SuppressShortDropOuts(PSTR("Communication timeout"), CommunicationTimeout);
+  }
+
+  StepStatus ProtocolLogic::HandleProtocolError() {
+    MMU2_SERIAL.flush(); // clear the output buffer
+    state = State::InitSequence;
+    currentScope = Scope::DelayedRestart;
+    DelayedRestartRestart();
+    return SuppressShortDropOuts(PSTR("Protocol Error"), ProtocolError);
+  }
+
+  StepStatus ProtocolLogic::Step() {
+    if (!ExpectsResponse()) // if not waiting for a response, activate a planned request immediately
+      ActivatePlannedRequest();
+    auto currentStatus = ScopeStep();
+    switch (currentStatus) {
+      case Processing:
+        // we are ok, the state machine continues correctly
+        break;
+      case Finished: {
+        // We are ok, switching to Idle if there is no potential next request planned.
+        // But the trouble is we must report a finished command if the previous command has just been finished
+        // i.e. only try to find some planned command if we just finished the Idle cycle
+        if (!ActivatePlannedRequest()) {                           // if nothing is planned, switch to Idle
+          SwitchToIdle();
+        }
+        else if (ExpectsResponse()) {
+          // if the previous cycle was Idle and now we have planned a new command -> avoid returning Finished
+          currentStatus = Processing;
+        }
+      }
+      break;
+      case CommandRejected:
+        // we have to repeat it - that's the only thing we can do
+        // no change in state
+        // @@TODO wait until Q0 returns command in progress finished, then we can send this one
+        LogError(PSTR("Command rejected"));
+        CommandRestart();
+        break;
+      case CommandError:
+        LogError(PSTR("Command Error"));
+        // we should probably transfer into the Idle state and await further instructions from the upper layer
+        // Idle state may solve the problem of keeping up the heart beat running
+        break;
+      case VersionMismatch:
+        LogError(PSTR("Version mismatch"));
+        break;
+      case ProtocolError:
+        currentStatus = HandleProtocolError();
+        break;
+      case CommunicationTimeout:
+        currentStatus = HandleCommunicationTimeout();
+        break;
+      default:
+        break;
+    }
+    // special handling of explicit printer errors
+    return IsPrinterError() ? StepStatus::PrinterError : currentStatus;
+  }
+
+  uint8_t ProtocolLogic::CommandInProgress() const {
+    if (currentScope != Scope::Command) return 0;
+    return (uint8_t)ReqMsg().code;
+  }
+
+  void ProtocolLogic::DecrementRetryAttempts() {
+    if (inAutoRetry && retryAttempts) {
+      SERIAL_ECHOLNPGM("DecrementRetryAttempts");
+      retryAttempts--;
+    }
+  }
+
+  void ProtocolLogic::ResetRetryAttempts() {
+    SERIAL_ECHOLNPGM("ResetRetryAttempts");
+    retryAttempts = MMU2_MAX_RETRIES;
+  }
+
+  void __attribute__((noinline)) ProtocolLogic::ResetCommunicationTimeoutAttempts() {
+    SERIAL_ECHOLNPGM("RSTCommTimeout");
+    dataTO.reset();
+  }
+
+  bool DropOutFilter::Record(StepStatus ss) {
+    if (occurrences == maxOccurrences) cause = ss;
+    --occurrences;
+    return occurrences == 0;
+  }
+
+} // MMU3
+
+#endif // HAS_PRUSA_MMU3
@@ -0,0 +1,397 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2_protocol_logic.h
+ */
+
+#include "../../MarlinCore.h"
+
+#include <stdint.h>
+
+#ifdef __AVR__
+  #include <avr/pgmspace.h>
+  #include "mmu_hw/error_codes.h"
+  #include "mmu_hw/progress_codes.h"
+  #include "mmu_hw/buttons.h"
+  #include "mmu_hw/registers.h"
+  #include "mmu2_protocol.h"
+
+  // #include <array> std array is not available on AVR ... we need to "fake" it
+  namespace std {
+    template <typename T, uint8_t N>
+    class array {
+      T data[N];
+      public:
+      array() = default;
+      inline constexpr T *begin() const { return data; }
+      inline constexpr T *end() const { return data + N; }
+      static constexpr uint8_t size() { return N; }
+      inline T &operator[](uint8_t i) { return data[i]; }
+    };
+  } // std
+
+#else // !__AVR__
+
+  #include <array>
+  #include "mmu_hw/error_codes.h"
+  #include "mmu_hw/progress_codes.h"
+
+  // Prevent ARM HAL macros from breaking our code
+  #undef CRC
+  #include "mmu2_protocol.h"
+  #include "mmu_hw/buttons.h"
+  #include "registers.h"
+
+#endif // !__AVR__
+
+// New MMU3 protocol logic
+namespace MMU3 {
+
+  using namespace modules::protocol;
+
+  class ProtocolLogic;
+
+  // ProtocolLogic stepping statuses
+  enum StepStatus : uint_fast8_t {
+    Processing = 0,
+    MessageReady,         //!< A message has been successfully decoded from the received bytes
+    Finished,             //!< Scope finished successfully
+    Interrupted,          //!< Received "Finished" message related to a different command than originally issued (most likely the MMU restarted while doing something)
+    CommunicationTimeout, //!< The MMU failed to respond to a request within a specified time frame
+    ProtocolError,        //!< Bytes read from the MMU didn't form a valid response
+    CommandRejected,      //!< The MMU rejected the command due to some other command in progress, may be the user is operating the MMU locally (button commands)
+    CommandError,         //!< The command in progress stopped due to unrecoverable error, user interaction required
+    VersionMismatch,      //!< The MMU reports its firmware version incompatible with our implementation
+    PrinterError,         //!< Printer's explicit error - MMU is fine, but the printer was unable to complete the requested operation
+    CommunicationRecovered,
+    ButtonPushed          //!< The MMU reported the user pushed one of its three buttons.
+  };
+
+  /*inline*/ constexpr uint32_t linkLayerTimeout = 2000;                  //!< Default link layer communication timeout
+  /*inline*/ constexpr uint32_t dataLayerTimeout = linkLayerTimeout * 3;  //!< Data layer communication timeout
+  /*inline*/ constexpr uint32_t heartBeatPeriod = linkLayerTimeout / 2;   //!< Period of heart beat messages (Q0)
+
+  static_assert(heartBeatPeriod < linkLayerTimeout && linkLayerTimeout < dataLayerTimeout, "Incorrect ordering of timeouts");
+
+  //!< Filter of short consecutive drop outs which are recovered instantly
+  class DropOutFilter {
+    public:
+    static constexpr uint8_t maxOccurrences = 10; // ideally set this to >8 seconds -> 12x heartBeatPeriod
+    static_assert(maxOccurrences > 1, "we should really silently ignore at least 1 comm drop out if recovered immediately afterwards");
+    DropOutFilter() = default;
+
+    // @return true if the error should be reported to higher levels (max. number of consecutive occurrences reached)
+    bool Record(StepStatus ss);
+
+    // @return the initial cause which started this drop out event
+    inline StepStatus InitialCause() const { return cause; }
+
+    // Rearms the object for further processing - basically call this once the MMU responds with something meaningful (e.g. S0 A2)
+    inline void reset() { occurrences = maxOccurrences; }
+
+    private:
+    StepStatus cause;
+    uint8_t occurrences = maxOccurrences;
+  };
+
+  // Logic layer of the MMU vs. printer communication protocol
+  class ProtocolLogic {
+    public:
+    ProtocolLogic(uint8_t extraLoadDistance, uint8_t pulleySlowFeedrate);
+
+    // Start/Enable communication with the MMU
+    void start();
+
+    // Stop/Disable communication with the MMU
+    void stop();
+
+    // Issue commands to the MMU
+    void ToolChange(uint8_t slot);
+    void Statistics();
+    void UnloadFilament();
+    void LoadFilament(uint8_t slot);
+    void EjectFilament(uint8_t slot);
+    void CutFilament(uint8_t slot);
+    void ResetMMU(uint8_t mode=0);
+    void button(uint8_t index);
+    void home(uint8_t mode);
+    void readRegister(uint8_t address);
+    void writeRegister(uint8_t address, uint16_t data);
+
+    // Set the extra load distance to be reported to the MMU.
+    // Beware - this call doesn't send anything to the MMU.
+    // The MMU gets the newly set value either by a communication restart or via an explicit writeRegister call
+    inline void PlanExtraLoadDistance(uint8_t eld_mm) { initRegs8[0] = eld_mm; }
+    // @return the currently preset extra load distance
+    inline uint8_t ExtraLoadDistance() const { return initRegs8[0]; }
+
+    // Sets the Pulley slow feed rate to be reported to the MMU.
+    // Beware - this call doesn't send anything to the MMU.
+    // The MMU gets the newly set value either by a communication restart or via an explicit writeRegister call
+    inline void PlanPulleySlowFeedRate(uint8_t psfr) {
+      initRegs8[1] = psfr;
+    }
+    // @return the currently preset Pulley slow feed rate
+    inline uint8_t PulleySlowFeedRate() const {
+      return initRegs8[1]; // even though MMU register 0x14 is 16bit, reasonable speeds are way below 255mm/s - saving space ;)
+    }
+
+    // Step the state machine
+    StepStatus Step();
+
+    // @return the current/latest error code as reported by the MMU
+    ErrorCode Error() const { return errorCode; }
+
+    // @return the current/latest process code as reported by the MMU
+    ProgressCode Progress() const { return progressCode; }
+
+    // @return the current/latest button code as reported by the MMU
+    Buttons button() const { return buttonCode; }
+
+    uint8_t CommandInProgress() const;
+
+    inline bool Running() const { return state == State::Running; }
+
+    inline bool findaPressed() const { return regs8[0]; }
+
+    inline uint16_t FailStatistics() const { return regs16[0]; }
+
+    inline uint8_t mmuFwVersionMajor() const { return mmuFwVersion[0]; }
+    inline uint8_t mmuFwVersionMinor() const { return mmuFwVersion[1]; }
+    inline uint8_t mmuFwVersionRevision() const { return mmuFwVersion[2]; }
+
+    // Current number of retry attempts left
+    constexpr uint8_t RetryAttempts() const { return retryAttempts; }
+
+    // Decrement the retry attempts, if in a retry.
+    // Called by the MMU protocol when a sent button is acknowledged.
+    void DecrementRetryAttempts();
+
+    // Reset the retryAttempts back to the default value
+    void ResetRetryAttempts();
+
+    void ResetCommunicationTimeoutAttempts();
+
+    constexpr bool InAutoRetry() const { return inAutoRetry; }
+    inline void SetInAutoRetry(const bool iar) { inAutoRetry = iar; }
+
+    inline void SetPrinterError(const ErrorCode ec) { explicitPrinterError = ec; }
+    inline void clearPrinterError() { explicitPrinterError = ErrorCode::OK; }
+    inline bool IsPrinterError() const { return explicitPrinterError != ErrorCode::OK; }
+    inline ErrorCode PrinterError() const { return explicitPrinterError; }
+
+    #ifndef UNITTEST
+      private:
+    #endif
+
+    StepStatus ExpectingMessage();
+    void SendMsg(RequestMsg rq);
+    void SendWriteMsg(RequestMsg rq);
+    void SwitchToIdle();
+    StepStatus SuppressShortDropOuts(const char *msg_P, StepStatus ss);
+    StepStatus HandleCommunicationTimeout();
+    StepStatus HandleProtocolError();
+    bool Elapsed(uint32_t timeout) const;
+    void RecordUARTActivity();
+    void RecordReceivedByte(uint8_t c);
+    void FormatLastReceivedBytes(char *dst);
+    void FormatLastResponseMsgAndClearLRB(char *dst);
+    void LogRequestMsg(const uint8_t *txbuff, uint8_t size);
+    void LogError(const char *reason_P);
+    void LogResponse();
+    StepStatus SwitchFromIdleToCommand();
+    void SwitchFromStartToIdle();
+
+    ErrorCode explicitPrinterError;
+
+    enum class State : uint_fast8_t {
+      Stopped,    //!< stopped for whatever reason
+      InitSequence, //!< initial sequence running
+      Running     //!< normal operation - Idle + Command processing
+    };
+
+    enum class Scope : uint_fast8_t {
+      Stopped,
+      StartSeq,
+      DelayedRestart,
+      Idle,
+      Command
+    };
+    Scope currentScope;
+
+    // basic scope members
+    // @return true if the state machine is waiting for a response from the MMU
+    bool ExpectsResponse() const { return ((uint8_t)scopeState & (uint8_t)ScopeState::NotExpectsResponse) == 0; }
+
+    // Common internal states of the derived sub-automata
+    // General rule of thumb: *Sent states are waiting for a response from the MMU
+    enum class ScopeState : uint_fast8_t {
+      S0Sent, // beware - due to optimization reasons these SxSent must be kept one after another
+      S1Sent,
+      S2Sent,
+      S3Sent,
+      QuerySent,
+      CommandSent,
+      FilamentSensorStateSent,
+      Reading8bitRegisters,
+      Reading16bitRegisters,
+      WritingInitRegisters,
+      ButtonSent,
+      ReadRegisterSent, // standalone requests for reading registers - from higher layers
+      WriteRegisterSent,
+
+      // States which do not expect a message - MSb set
+      NotExpectsResponse = 0x80,
+      Wait = NotExpectsResponse + 1,
+      Ready = NotExpectsResponse + 2,
+      RecoveringProtocolError = NotExpectsResponse + 3,
+    };
+
+    ScopeState scopeState; //!< internal state of the sub-automaton
+
+    // @return the status of processing of the FINDA query response
+    // @param finishedRV returned value in case the message was successfully received and processed
+    // @param nextState is a state where the state machine should transfer to after the message was successfully received and processed
+    // StepStatus ProcessFINDAReqSent(StepStatus finishedRV, State nextState);
+
+    // @return the status of processing of the statistics query response
+    // @param finishedRV returned value in case the message was successfully received and processed
+    // @param nextState is a state where the state machine should transfer to after the message was successfully received and processed
+    // StepStatus ProcessStatisticsReqSent(StepStatus finishedRV, State nextState);
+
+    // Called repeatedly while waiting for a query (Q0) period.
+    // All event checks to report immediately from the printer to the MMU should be done in this method.
+    // So far, the only such a case is the filament sensor, but there can be more like this in the future.
+    void CheckAndReportAsyncEvents();
+    void SendQuery();
+    void StartReading8bitRegisters();
+    void ProcessRead8bitRegister();
+    void StartReading16bitRegisters();
+    ScopeState ProcessRead16bitRegister(ProtocolLogic::ScopeState stateAtEnd);
+    void StartWritingInitRegisters();
+    // @return true when all registers have been written into the MMU
+    bool ProcessWritingInitRegister();
+    void SendAndUpdateFilamentSensor();
+    void SendButton(uint8_t btn);
+    void SendVersion(uint8_t stage);
+    void SendReadRegister(uint8_t index, ScopeState nextState);
+    void SendWriteRegister(uint8_t index, uint16_t value, ScopeState nextState);
+
+    StepStatus ProcessVersionResponse(uint8_t stage);
+
+    // Top level split - calls the appropriate step based on current scope
+    StepStatus ScopeStep();
+
+    static constexpr uint8_t maxRetries = 6;
+    uint8_t retries;
+
+    void StartSeqRestart();
+    void DelayedRestartRestart();
+    void IdleRestart();
+    void CommandRestart();
+
+    StepStatus StartSeqStep();
+    StepStatus DelayedRestartWait();
+    StepStatus IdleStep();
+    StepStatus IdleWait();
+    StepStatus CommandStep();
+    StepStatus CommandWait();
+    StepStatus StoppedStep() { return Processing; }
+
+    StepStatus ProcessCommandQueryResponse();
+
+    inline void SetRequestMsg(const RequestMsg msg) { rq = msg; }
+    inline const RequestMsg &ReqMsg() const { return rq; }
+    RequestMsg rq = RequestMsg(RequestMsgCodes::unknown, 0);
+
+    // Records the next planned state, "unknown" msg code if no command is planned.
+    // This is not intended to be a queue of commands to process, protocol_logic must not queue commands.
+    // It exists solely to prevent breaking the Request-Response protocol handshake -
+    // - during tests it turned out, that the commands from Marlin are coming in such an asynchronnous way, that
+    // we could accidentally send T2 immediately after Q0 without waiting for reception of response to Q0.
+    //
+    // Beware, if Marlin manages to call PlanGenericCommand multiple times before a response comes,
+    // these variables will get overwritten by the last call.
+    // However, that should not happen under normal circumstances as Marlin should wait for the Command to finish,
+    // which includes all responses (and error recovery if any).
+    RequestMsg plannedRq;
+
+    // Plan a command to be processed once the immediate response to a sent request arrives
+    void PlanGenericRequest(RequestMsg rq);
+    // Activate the planned state once the immediate response to a sent request arrived
+    bool ActivatePlannedRequest();
+
+    uint32_t lastUARTActivityMs;             //!< timestamp - last ms when something occurred on the UART
+    DropOutFilter dataTO;                    //!< Filter of short consecutive drop outs which are recovered instantly
+
+    ResponseMsg rsp;                         //!< decoded response message from the MMU protocol
+
+    State state;                             //!< internal state of ProtocolLogic
+
+    Protocol protocol;                       //!< protocol codec
+
+    std::array<uint8_t, 16> lastReceivedBytes; //!< remembers the last few bytes of incoming communication for diagnostic purposes
+    uint8_t lrb;
+
+    ErrorCode errorCode;        //!< last received error code from the MMU
+    ProgressCode progressCode;  //!< last received progress code from the MMU
+    Buttons buttonCode;         //!< Last received button from the MMU.
+
+    uint8_t lastFSensor;        //!< last state of filament sensor
+
+    #ifndef __AVR__
+      uint8_t txbuff[Protocol::MaxRequestSize()]; //!< In Buddy FW - a static transmit buffer needs to exist as DMA cannot be used from CCMRAM.
+      //!< On MK3/S/+ the transmit buffer is allocated on the stack without restrictions
+    #endif
+
+    // 8bit registers
+    static constexpr uint8_t regs8Count = 3;
+    static_assert(regs8Count > 0); // code is not ready for empty lists of registers
+    static const Register regs8Addrs[regs8Count] PROGMEM;
+    uint8_t regs8[regs8Count] = { 0, 0, 0 };
+
+    // 16bit registers
+    static constexpr uint8_t regs16Count = 2;
+    static_assert(regs16Count > 0); // code is not ready for empty lists of registers
+    static const Register regs16Addrs[regs16Count] PROGMEM;
+    uint16_t regs16[regs16Count] = { 0, 0 };
+
+    // 8bit init values to be sent to the MMU after line up
+    static constexpr uint8_t initRegs8Count = 2;
+    static_assert(initRegs8Count > 0); // code is not ready for empty lists of registers
+    static const Register initRegs8Addrs[initRegs8Count] PROGMEM;
+    uint8_t initRegs8[initRegs8Count];
+
+    uint8_t regIndex;
+
+    uint8_t mmuFwVersion[3] = { 0, 0, 0 };
+    uint16_t mmuFwVersionBuild;
+
+    uint8_t retryAttempts;
+    bool inAutoRetry;
+
+    friend class MMU3;
+  };
+
+} // MMU3
@@ -0,0 +1,704 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * mmu2_reporting.cpp
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_PRUSA_MMU3
+
+#include "mmu2.h"
+#include "mmu2_log.h"
+#include "mmu2_fsensor.h"
+#include "mmu2_reporting.h"
+#include "mmu2_error_converter.h"
+#include "mmu2_marlin_macros.h"
+#include "mmu2_progress_converter.h"
+#include "mmu_hw/buttons.h"
+#include "mmu_hw/error_codes.h"
+#include "mmu_hw/errors_list.h"
+#include "ultralcd.h"
+#include "sound.h"
+
+#include "../../core/language.h"
+#include "../../gcode/gcode.h"
+#include "../../feature/host_actions.h"
+#include "../../lcd/marlinui.h"
+#include "../../lcd/menu/menu.h"
+#include "../../lcd/menu/menu_item.h"
+#include "../../module/temperature.h"
+
+namespace MMU3 {
+
+  OperationStatistics operation_statistics;
+
+  uint16_t OperationStatistics::fail_total_num;     // total failures
+  uint8_t OperationStatistics::fail_num;            // fails during print
+  uint16_t OperationStatistics::load_fail_total_num; // total load failures
+  uint8_t OperationStatistics::load_fail_num;       // load failures during print
+  uint16_t OperationStatistics::tool_change_counter; // number of tool changes per print
+  uint32_t OperationStatistics::tool_change_total_counter; // number of total tool changes
+  int OperationStatistics::fail_total_num_addr;     // total failures EEPROM addr
+  int OperationStatistics::fail_num_addr;           // fails during print EEPROM addr
+  int OperationStatistics::load_fail_total_num_addr; // total load failures EEPROM addr
+  int OperationStatistics::load_fail_num_addr;      // load failures during print EEPROM addr
+  int OperationStatistics::tool_change_counter_addr; // number of total tool changes EEPROM addr
+  int OperationStatistics::tool_change_total_counter_addr; // number of total tool changes EEPROM addr
+
+  /**
+   * Increment both the total load fails and Per print job load fails.
+  */
+  void OperationStatistics::increment_load_fails() {
+    load_fail_num += 1;
+    load_fail_total_num += 1;
+
+    #if ENABLED(EEPROM_SETTINGS)
+      // save load_fail_num to eeprom
+      persistentStore.access_start();
+      persistentStore.write_data(load_fail_num_addr, load_fail_num);
+
+      // save load_fail_total_num to eeprom
+      persistentStore.write_data(load_fail_total_num_addr, load_fail_total_num);
+      persistentStore.access_finish();
+      settings.save();
+    #endif
+  }
+
+  /**
+   * Increment both the total fails and the per print job fails.
+  */
+  void OperationStatistics::increment_mmu_fails() {
+    fail_num += 1;
+    fail_total_num += 1;
+
+    #if ENABLED(EEPROM_SETTINGS)
+      // save fail_num to eeprom
+      persistentStore.access_start();
+      persistentStore.write_data(fail_num_addr, fail_num);
+      // save fail_total_num to eeprom
+      persistentStore.write_data(fail_total_num_addr, fail_total_num);
+      persistentStore.access_finish();
+      settings.save();
+    #endif
+  }
+
+  /**
+   * Increment tool change counter
+  */
+  void OperationStatistics::increment_tool_change_counter() {
+    tool_change_counter += 1;
+    tool_change_total_counter += 1;
+
+    #if ENABLED(EEPROM_SETTINGS)
+      // save tool_change_total_counter to eeprom
+      persistentStore.access_start();
+      persistentStore.write_data(tool_change_total_counter_addr, tool_change_total_counter);
+      persistentStore.access_finish();
+      settings.save();
+    #endif
+  }
+
+
+  /**
+   * Reset only per print operation statistics and update EEPROM.
+   *
+   * @return true if everything went okay, false otherwise.
+  */
+  bool OperationStatistics::reset_per_print_stats() {
+    // Update data
+    load_fail_num = 0;
+    fail_num = 0;
+    tool_change_counter = 0;
+
+    #if ENABLED(EEPROM_SETTINGS)
+      // Update EEPROM
+      persistentStore.access_start();
+      persistentStore.write_data(load_fail_num_addr, load_fail_num);
+      persistentStore.write_data(fail_num_addr, fail_num);
+      persistentStore.write_data(tool_change_counter_addr, tool_change_counter);
+      persistentStore.access_finish();
+      return settings.save();
+    #else
+      return true;
+    #endif
+  }
+
+
+  /**
+   * Reset fail statistics and update EEPROM.
+   *
+   * This will keep the tool change counter change counters and delete anything
+   * else.
+   *
+   * @return true if everything went okay, false otherwise.
+  */
+  bool OperationStatistics::reset_fail_stats() {
+    // Update data
+    load_fail_num = 0;
+    load_fail_total_num = 0;
+    fail_num = 0;
+    fail_total_num = 0;
+
+    #if ENABLED(EEPROM_SETTINGS)
+      // Update EEPROM
+      persistentStore.access_start();
+      persistentStore.write_data(load_fail_num_addr, load_fail_num);
+      persistentStore.write_data(load_fail_total_num_addr, load_fail_total_num);
+      persistentStore.write_data(fail_num_addr, fail_num);
+      persistentStore.write_data(fail_total_num_addr, fail_total_num);
+      persistentStore.access_finish();
+      return settings.save();
+    #else
+      return true;
+    #endif
+  }
+
+
+  /**
+   * Reset all operation statistics and update EEPROM.
+   *
+   * @return true if everything went okay, false otherwise.
+  */
+  bool OperationStatistics::reset_stats() {
+    // Update data
+    load_fail_num = 0;
+    load_fail_total_num = 0;
+    fail_num = 0;
+    fail_total_num = 0;
+    tool_change_counter = 0;
+    tool_change_total_counter = 0;
+
+    #if ENABLED(EEPROM_SETTINGS)
+      // Update EEPROM
+      persistentStore.access_start();
+      persistentStore.write_data(load_fail_num_addr, load_fail_num);
+      persistentStore.write_data(load_fail_total_num_addr, load_fail_total_num);
+      persistentStore.write_data(fail_num_addr, fail_num);
+      persistentStore.write_data(fail_total_num_addr, fail_total_num);
+      persistentStore.write_data(tool_change_counter_addr, tool_change_counter);
+      persistentStore.write_data(tool_change_total_counter_addr, tool_change_total_counter);
+      persistentStore.access_finish();
+      return settings.save();
+    #else
+      return true;
+    #endif
+  }
+
+
+  void BeginReport(CommandInProgress /*cip*/, ProgressCode ec) {
+    // custom_message_type = CustomMsg::MMUProgress;
+    ui.set_status(ProgressCodeToText(ec));
+  }
+
+  void EndReport(CommandInProgress /*cip*/, ProgressCode /*ec*/) {
+    // clear the status msg line - let the printed filename get visible again
+    if (!printJobOngoing()) ui.reset_status();
+    //custom_message_type = CustomMsg::Status;
+  }
+
+  /**
+   * @brief Renders any characters that will be updated live on the MMU error screen.
+   *Currently, this is FINDA and Filament Sensor status and Extruder temperature.
+   */
+  extern void ReportErrorHookDynamicRender(void) {
+    #if HAS_WIRED_LCD
+      // beware - this optimization abuses the fact, that findaDetectsFilament returns 0 or 1 and '0' is followed by '1' in the ASCII table
+      lcd_put_int(3, LCD_HEIGHT - 1, mmu3.findaDetectsFilament() + '0');
+      lcd_put_int(8, LCD_HEIGHT - 1, FILAMENT_PRESENT() + '0');
+
+      // print active/changing filament slot
+      lcd_moveto(10, LCD_HEIGHT - 1);
+      lcdui_print_extruder();
+
+      // Print active extruder temperature
+      lcd_put_int(16, LCD_HEIGHT - 1, (int)(thermalManager.degHotend(0) + 0.5));
+    #endif
+  }
+
+  static bool drawing_more_info_screen = false;
+  static bool msg_next_is_consumed = false;
+  static FSTR_P msg_next = nullptr;
+
+  /**
+   * Display more info about the error. If the error message doesn't fit into
+   * the screen, clicking the LCD button will go to the next screen to display
+   * the rest of the message, until no messages left to display and a final
+   * click will return to the previous screen.
+   *
+   * This gets the message data from the "editable.uint8" which is set in the
+   * action item.
+   */
+  void show_more_info_screen() {
+    #if HAS_WIRED_LCD
+      if (drawing_more_info_screen) return;
+      drawing_more_info_screen = true;
+      FSTR_P fmsg = PrusaErrorDesc(editable.uint8);
+      if (ui.use_click()) {
+        if (msg_next_is_consumed) {
+          msg_next_is_consumed = false;
+          drawing_more_info_screen = false;
+          msg_next = nullptr;
+          // Prevent this function being triggered again...
+          SetButtonResponse(ButtonOperations::NoOperation);
+          return ui.go_back();
+        }
+        fmsg = msg_next;
+      }
+      else if (msg_next_is_consumed) {
+        fmsg = msg_next;
+      }
+
+      FSTR_P const msg_next_int = lcd_display_message_fullscreen(fmsg);
+      msg_next_is_consumed = strlen_P(FTOP(msg_next_int)) == 0;
+      if (!msg_next_is_consumed) msg_next = msg_next_int;
+      // Set the button response to MoreInfo so we keep coming back to this screen until all messages are consumed
+      SetButtonResponse(ButtonOperations::MoreInfo);
+    #else
+      // no lcd, no error display... just break the loop...
+      msg_next_is_consumed = false;
+      msg_next = nullptr;
+      SetButtonResponse(ButtonOperations::NoOperation);
+    #endif // HAS_WIRED_LCD
+    drawing_more_info_screen = false;
+  }
+
+  /**
+   * @brief Renders any characters that are static on the MMU error screen i.e. they don't change.
+   * @param[in] ei Error code index
+   */
+  static void ReportErrorHookStaticRender(uint8_t ei) {
+    #if HAS_WIRED_LCD
+      //! Show an error screen
+      //! When an MMU error occurs, the LCD content will look like this:
+      //! |01234567890123456789|
+      //! |MMU FW update needed|     <- title/header of the error: max 20 characters
+      //! |prusa.io/04504      |     <- URL max 20 characters
+      //! |FI:1 FS:1  5>3 t201°|     <- status line, t is thermometer symbol
+      //! |>Retry   >Done    >W|     <- buttons
+      bool two_choices = false;
+
+      // Read and determine what operations should be shown on the menu
+      const uint8_t button_operation = PrusaErrorButtons(ei),
+                    button_op_right  = BUTTON_OP_RIGHT(button_operation),
+                    button_op_middle = BUTTON_OP_MIDDLE(button_operation);
+
+      // Check if the menu should have three or two choices
+      if (button_op_right == (uint8_t)ButtonOperations::NoOperation) {
+        // Two operations not specified, the error menu should only show two choices
+        two_choices = true;
+      }
+
+      START_MENU();
+      #ifndef __AVR__
+        // TODO: I couldn't make this work on AVR
+        STATIC_ITEM_F(PrusaErrorTitle(ei), SS_DEFAULT | SS_INVERT);
+
+        // Write the help page and error code
+        MString<LCD_WIDTH> url("");
+        url.appendf("prusa.io/04%hu", PrusaErrorCode(ei));
+        STATIC_ITEM_F(nullptr, SS_DEFAULT, url.buffer());
+
+        //ReportErrorHookSensorLineRender();
+
+        editable.uint8 = button_op_middle;
+        ACTION_ITEM_F(
+          PrusaErrorButtonTitle(button_op_middle),
+          []{ SetButtonResponse((ButtonOperations)editable.uint8); }
+        );
+
+        if (!two_choices) {
+          editable.uint8 = button_op_right;
+          ACTION_ITEM_F(
+            PrusaErrorButtonTitle(button_op_right),
+            []{ SetButtonResponse((ButtonOperations)editable.uint8); }
+          );
+        }
+
+        // Add a More Info option
+        editable.uint8 = ei;
+        ACTION_ITEM_F(
+          GET_TEXT_F(MSG_BTN_MORE),
+          []{
+            // only when the menu item is used push the current screen back
+            ui.push_current_screen();
+            msg_next_is_consumed = false;
+            msg_next = nullptr;
+            SetButtonResponse(ButtonOperations::MoreInfo);
+          }
+        );
+
+      #endif // !__AVR__
+
+      // Render the choices
+      //if (two_choices) {
+      //  lcd_show_choices_prompt_P(
+      //   LCD_LEFT_BUTTON_CHOICE,
+      //   PrusaErrorButtonTitle(button_op_middle),
+      //   GET_TEXT(MSG_BTN_MORE),
+      //   18, nullptr
+      //  );
+      //}
+      //else {
+      //  lcd_show_choices_prompt_P(LCD_MIDDLE_BUTTON_CHOICE,
+      //   PrusaErrorButtonTitle(button_op_middle),
+      //   PrusaErrorButtonTitle(button_op_right),
+      //   9, GET_TEXT(MSG_BTN_MORE)
+      //  );
+      //}
+
+      END_MENU();
+      //ui.refresh(LCDVIEW_CALL_REDRAW_NEXT);
+    #endif // HAS_WIRED_LCD
+  }
+
+  void ReportErrorHookSensorLineRender() {
+    #if HAS_WIRED_LCD
+      // Render static characters in third line
+      lcd_put_u8str(
+        0,
+        LCD_HEIGHT - 1,
+        F("FI:  FS:    >  " LCD_STR_THERMOMETER "   " LCD_STR_DEGREE)
+      );
+    #endif
+  }
+
+  /**
+   * @brief Monitors the LCD button selection without blocking MMU communication
+   * @param[in] ei Error code index
+   * @return 0 if there is no knob click --
+   * 1 if user clicked 'More' and firmware should render
+   * the error screen when ReportErrorHook is called next --
+   * 2 if the user selects an operation and we would like
+   * to exit the error screen. The MMU will raise the menu
+   * again if the error is not solved.
+   */
+  static uint8_t ReportErrorHookMonitor(uint8_t ei) {
+    uint8_t ret = 0;
+    if (GetButtonResponse() == ButtonOperations::MoreInfo) {
+      SetButtonResponse(ButtonOperations::NoOperation);
+      ret = 1;
+    }
+    else if (GetButtonResponse() != ButtonOperations::NoOperation) {
+      ret = 2;
+    }
+    // Next MMU error screen should reset the choice selection
+    // reset_button_selection = 1;
+    return ret;
+  }
+
+  enum class ReportErrorHookStates : uint8_t {
+    RENDER_ERROR_SCREEN  = 0,
+    MONITOR_SELECTION    = 1,
+    DISMISS_ERROR_SCREEN = 2,
+  };
+
+  enum ReportErrorHookStates ReportErrorHookState = ReportErrorHookStates::RENDER_ERROR_SCREEN;
+
+  // Helper variable to monitor knob in MMU error screen in blocking functions e.g. manage_response
+  static bool is_mmu_error_monitor_active;
+
+  // Helper variable to stop rendering the error screen when the firmware is rendering complementary
+  // UI to resolve the error screen, for example tuning Idler Stallguard Threshold
+  // Set to false to allow the error screen to render again.
+  static bool putErrorScreenToSleep;
+
+  void CheckErrorScreenUserInput() {
+    if (is_mmu_error_monitor_active) {
+      // Call this every iteration to keep the knob rotation responsive
+      // This includes when mmu_loop is called within manage_response
+      ReportErrorHook((CommandInProgress)mmu3.getCommandInProgress(), mmu3.getLastErrorCode(), mmu3.mmuLastErrorSource());
+    }
+  }
+
+  bool TuneMenuEntered() {
+    return putErrorScreenToSleep;
+  }
+
+  void ReportErrorHook(CommandInProgress /*cip*/, ErrorCode ec, uint8_t /*es*/) {
+    if (putErrorScreenToSleep) return;
+
+    if (mmu3.mmuCurrentErrorCode() == ErrorCode::OK && mmu3.mmuLastErrorSource() == MMU3::ErrorSourceMMU) {
+      // If the error code suddenly changes to OK, that means
+      // a button was pushed on the MMU and the LCD should
+      // dismiss the error screen until MMU raises a new error
+      ReportErrorHookState = ReportErrorHookStates::DISMISS_ERROR_SCREEN;
+      drawing_more_info_screen = false;
+      msg_next_is_consumed = true;
+    }
+
+    const uint8_t ei = PrusaErrorCodeIndex((ErrorCode)ec);
+
+    // This should be the equivelent of the switch..case above...
+    if ((uint8_t)ReportErrorHookState == (uint8_t)ReportErrorHookStates::RENDER_ERROR_SCREEN) {
+      KEEPALIVE_STATE(PAUSED_FOR_USER);
+      #if HAS_WIRED_LCD
+        drawing_more_info_screen = false;
+        msg_next_is_consumed = false;
+        msg_next = nullptr;
+        editable.uint8 = ei;
+        ui.defer_status_screen();
+        ui.goto_screen([]{ ReportErrorHookStaticRender(editable.uint8); });
+      #endif
+      ReportErrorHookState = ReportErrorHookStates::MONITOR_SELECTION;
+    }
+
+    if ((uint8_t)ReportErrorHookState == (uint8_t)ReportErrorHookStates::MONITOR_SELECTION) {
+      is_mmu_error_monitor_active = true;
+      // ReportErrorHookDynamicRender(); // Render dynamic characters
+      sound_wait_for_user();
+      uint8_t result = ReportErrorHookMonitor(ei);
+      if (result == 0) {
+        // No choice selected, return to loop()
+      }
+      else if (result == 1) {
+        // More Info button selected, change state
+        editable.uint8 = ei;
+        //ui.refresh(LCDVIEW_CALL_REDRAW_NEXT);
+        ui.goto_screen(show_more_info_screen);
+        ReportErrorHookState = ReportErrorHookStates::MONITOR_SELECTION;
+      }
+      else if (result == 2) {
+        // Exit error screen and enable lcd updates
+        TERN_(HAS_WIRED_LCD, ui.return_to_status());
+        sound_wait_for_user_reset();
+        // Reset the state in case a new error is reported
+        is_mmu_error_monitor_active = false;
+        KEEPALIVE_STATE(IN_HANDLER);
+        ReportErrorHookState = ReportErrorHookStates::RENDER_ERROR_SCREEN;
+      }
+      return; // Always return to loop() to let MMU trigger a call to ReportErrorHook again
+    }
+    else if ((uint8_t)ReportErrorHookState == (uint8_t)ReportErrorHookStates::DISMISS_ERROR_SCREEN) {
+      TERN_(HAS_WIRED_LCD, ui.return_to_status());
+      sound_wait_for_user_reset();
+      // Reset the state in case a new error is reported
+      is_mmu_error_monitor_active = false;
+      KEEPALIVE_STATE(IN_HANDLER);
+      ReportErrorHookState = ReportErrorHookStates::RENDER_ERROR_SCREEN;
+    }
+  }
+
+  void ReportProgressHook(CommandInProgress cip, ProgressCode ec) {
+    if (cip != CommandInProgress::NoCommand) {
+      // custom_message_type = CustomMsg::MMUProgress;
+      ui.set_status(ProgressCodeToText(ec));
+    }
+  }
+
+  TryLoadUnloadReporter::TryLoadUnloadReporter(float delta_mm)
+    : dpixel0(0), dpixel1(0), lcd_cursor_col(0)
+    , pixel_per_mm(0.5F * float(LCD_WIDTH) / (delta_mm)
+  ) {
+    //lcd_clearstatus();
+    ui.reset_status();
+  }
+
+  TryLoadUnloadReporter::~TryLoadUnloadReporter() {
+    #if HAS_WIRED_LCD
+      // Delay the next status message just so
+      // the user can see the results clearly
+      ui.set_status_no_expire(ui.status_message);
+    #endif
+  }
+
+  void TryLoadUnloadReporter::Render(uint8_t col, bool sensorState) {
+    #if HAS_WIRED_LCD
+      // Set the cursor position each time in case some other
+      // part of the firmware changes the cursor position
+      lcd_insert_char_into_status(col, sensorState ? LCD_STR_SOLID_BLOCK[0] : '-');
+      if (ui.lcdDrawUpdate == LCDViewAction::LCDVIEW_NONE)
+        ui.draw_status_message(false);
+    #endif
+  }
+
+  void TryLoadUnloadReporter::Progress(bool sensorState) {
+    // Always round up, you can only have 'whole' pixels. (floor is also an option)
+    dpixel1 = ceil((stepper_get_machine_position_E_mm() - planner_get_current_position_E()) * pixel_per_mm);
+    if (dpixel1 - dpixel0) {
+      dpixel0 = dpixel1;
+      if (lcd_cursor_col > (LCD_WIDTH - 1)) lcd_cursor_col = LCD_WIDTH - 1;
+      Render(lcd_cursor_col++, sensorState);
+    }
+  }
+
+  void TryLoadUnloadReporter::DumpToSerial() {
+    char buf[LCD_WIDTH + 1];
+    TERN_(HAS_WIRED_LCD, ui.status_message.copyto(buf));
+    for (uint8_t i = 0; i < sizeof(buf); i++) {
+      // 0xFF is -1 when converting from unsigned to signed char
+      // If the number is negative, that means filament is present
+      buf[i] = (buf[i] < 0) ? '1' : '0';
+    }
+    buf[LCD_WIDTH] = 0;
+    MMU2_ECHO_MSGLN(buf);
+  }
+
+  void IncrementLoadFails() {
+    operation_statistics.increment_load_fails();
+  }
+
+  void IncrementMMUFails() {
+    operation_statistics.increment_mmu_fails();
+  }
+
+  bool cutter_enabled() {
+    return mmu3.cutter_mode > 0;
+  }
+
+  void MakeSound(SoundType s) {
+    Sound_MakeSound((eSOUND_TYPE)s);
+  }
+
+  static void fullScreenMsg(FSTR_P const fstr, uint8_t slot) {
+    #if HAS_WIRED_LCD
+      ui.clear_lcd();
+      #ifndef __AVR__
+        SETCURSOR(0, 1);
+        lcd_put_u8str(fstr);
+        lcd_put_lchar(' ');
+        lcd_put_int(slot + 1);
+      #else
+        UNUSED(fstr);
+      #endif
+      ui.refresh(LCDVIEW_CALL_REDRAW_NEXT);
+      ui.screen_changed = true;
+    #endif
+  }
+
+  void fullScreenMsgCut(uint8_t slot)   { fullScreenMsg(GET_TEXT_F(MSG_CUT_FILAMENT), slot); }
+  void fullScreenMsgEject(uint8_t slot) { fullScreenMsg(GET_TEXT_F(MSG_EJECT_FROM_MMU), slot); }
+  void fullScreenMsgTest(uint8_t slot)  { fullScreenMsg(GET_TEXT_F(MSG_TESTING_FILAMENT), slot); }
+  void fullScreenMsgLoad(uint8_t slot)  { fullScreenMsg(GET_TEXT_F(MSG_LOADING_FILAMENT), slot); }
+
+  void fullScreenMsgRestoringTemperature() {
+    #if HAS_WIRED_LCD
+      lcd_display_message_fullscreen(F("MMU Retry: Restoring temperature..."));
+    #endif
+  }
+
+  void ScreenUpdateEnable() {
+    TERN_(HAS_WIRED_LCD, ui.refresh(LCDVIEW_CALL_REDRAW_NEXT));
+  }
+
+  void ScreenClear() { ui.clear_lcd(); }
+
+  struct TuneItem {
+    uint8_t address;
+    uint8_t minValue;
+    uint8_t maxValue;
+  }
+  __attribute__((packed));
+
+  static const TuneItem TuneItems[] PROGMEM = {
+    { (uint8_t)Register::Selector_sg_thrs_R, 1, 4 },
+    { (uint8_t)Register::Idler_sg_thrs_R, 2, 10 },
+  };
+
+  static_assert(COUNT(TuneItems) == 2);
+
+  typedef struct {
+    // Variables used when editing values.
+    const char* editLabel;
+    uint8_t editValueBits; // 8 or 16
+    void* editValuePtr;
+    int16_t currentValue;
+    int16_t minEditValue;
+    int16_t maxEditValue;
+    int16_t minJumpValue;
+  } menu_data_edit_t;
+
+  struct _menu_tune_data_t {
+    menu_data_edit_t reserved; // 13 bytes reserved for number editing functions
+    int8_t status;           // 1 byte
+    uint8_t currentValue;    // 1 byte
+    TuneItem item;           // 3 bytes
+  };
+
+  //static_assert(sizeof(_menu_tune_data_t) == 18);
+  //static_assert(sizeof(menu_data)>= sizeof(_menu_tune_data_t), "_menu_tune_data_t doesn't fit into menu_data");
+
+  void tuneIdlerStallguardThresholdMenu() {
+    // const uint8_t menu_data[32] = "Set Stallguard Threshold";
+    // //static constexpr _menu_tune_data_t * const _md = (_menu_tune_data_t*)&(menu_data[0]);
+    // static constexpr _menu_tune_data_t * const _md = (_menu_tune_data_t*)&(menu_data[0]);
+
+    // // Do not timeout the screen, otherwise there will be FW crash (menu recursion)
+    // //lcd_timeoutToStatus.stop();
+    //if (_md->status == 0) {
+    //  _md->status = 1; // Menu entered for the first time
+
+    //  // Fetch the TuneItem from PROGMEM
+    //  const uint8_t offset = (mmu3.mmuCurrentErrorCode() == ErrorCode::HOMING_IDLER_FAILED) ? 1 : 0;
+    //  memcpy_P(&(_md->item), &TuneItems[offset], sizeof(TuneItem));
+
+    //  // Fetch the value which is currently in MMU EEPROM
+    //  mmu3.readRegister(_md->item.address);
+    //  _md->currentValue = mmu3.getLastReadRegisterValue();
+    //}
+
+    // //MENU_BEGIN();
+    // //ON_MENU_LEAVE(
+    // //    mmu3.writeRegister(_md->item.address, (uint16_t)_md->currentValue);
+    // //    putErrorScreenToSleep = false;
+    // //    lcd_return_to_status();
+    // //    return;
+    // //);
+    // //MENU_ITEM_BACK(MSG_DONE);
+    // //MENU_ITEM_EDIT_int3_P(
+    // //    _i("Sensitivity"), ////MSG_MMU_SENSITIVITY c=18
+    // //    &_md->currentValue,
+    // //    _md->item.minValue,
+    // //    _md->item.maxValue
+    // //);
+    // //MENU_END();
+
+    //START_MENU();
+    //BACK_ITEM(MSG_BACK);
+    //EDIT_ITEM(
+    //    int8,
+    //    MSG_MMU_SENSITIVITY,
+    //    &_md->currentValue,
+    //    _md->item.minValue,
+    //    _md->item.maxValue,
+    //    []{
+    //        write_register_and_return_to_status_menu(_md->item.address, _md->currentValue);
+    //    }
+    //    );
+    //END_MENU();
+  }
+
+  void write_register_and_return_to_status_menu(uint8_t address, uint8_t value) {
+    mmu3.writeRegister(address, (uint16_t)value);
+    putErrorScreenToSleep = false;
+    ui.return_to_status();
+  }
+
+  void tuneIdlerStallguardThreshold() {
+    putErrorScreenToSleep = true;
+    //menu_submenu(tuneIdlerStallguardThresholdMenu);
+  }
+
+} // MMU3
+
+#endif // HAS_PRUSA_MMU3
@@ -0,0 +1,168 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2_reporting.h
+ */
+
+#include "../../MarlinCore.h"
+
+#include <stdint.h>
+#include "mmu_hw/error_codes.h"
+#include "mmu_hw/progress_codes.h"
+
+namespace MMU3 {
+
+  enum CommandInProgress : uint8_t {
+    NoCommand = 0,
+    CutFilament = 'K',
+    EjectFilament = 'E',
+    Homing = 'H',
+    LoadFilament = 'L',
+    Reset = 'X',
+    ToolChange = 'T',
+    UnloadFilament = 'U',
+  };
+
+  /**
+   * Data class for MMU operation statistics.
+   *
+   * This is used to load/save data from/to EEPROM.
+   * The data is initialized by the settings.load() method.
+  */
+  class OperationStatistics {
+    public:
+    void increment_load_fails();
+    void increment_mmu_fails();
+    void increment_tool_change_counter();
+    bool reset_per_print_stats(); // Reset only the per print stats.
+    bool reset_fail_stats(); // Reset only fail stats and keep tool change counters
+    bool reset_stats(); // Reset MMU stats and update EEPROM
+
+    static uint16_t fail_total_num;               // total failures
+    static uint8_t fail_num;                      // fails during print
+    static uint16_t load_fail_total_num;          // total load failures
+    static uint8_t load_fail_num;                 // load failures during print
+    static uint16_t tool_change_counter;          // number of tool changes during print
+    static uint32_t tool_change_total_counter;    // number of total tool changes
+    static int fail_total_num_addr;               // total failures EEPROM addr
+    static int fail_num_addr;                     // fails during print EEPROM addr
+    static int load_fail_total_num_addr;          // total load failures EEPROM addr
+    static int load_fail_num_addr;                // load failures during print EEPROM addr
+    static int tool_change_counter_addr;          // number of tool changes EEPROM addr
+    static int tool_change_total_counter_addr;    // number of total tool changes EEPROM addr
+  };
+
+  extern OperationStatistics operation_statistics;
+
+  // Called at the begin of every MMU operation
+  void BeginReport(CommandInProgress cip, ProgressCode ec);
+
+  // Called at the end of every MMU operation
+  void EndReport(CommandInProgress cip, ProgressCode ec);
+
+  // Checks for error screen user input, if the error screen is open
+  void CheckErrorScreenUserInput();
+
+  // Return true if the error screen is sleeping in the background
+  // Error screen sleeps when the firmware is rendering complementary
+  // UI to resolve the error screen, for example tuning Idler Stallguard Threshold
+  bool TuneMenuEntered();
+
+  // @brief Called when the MMU or MK3S sends operation error (even repeatedly).
+  // Render MMU error screen on the LCD. This must be non-blocking
+  // and allow the MMU and printer to communicate with each other.
+  // @param[in] ec error code
+  // @param[in] es error source
+  void ReportErrorHook(CommandInProgress cip, ErrorCode ec, uint8_t es);
+
+  // Called when the MMU sends operation progress update
+  void ReportProgressHook(CommandInProgress cip, ProgressCode ec);
+
+  struct TryLoadUnloadReporter {
+    TryLoadUnloadReporter(float delta_mm);
+    ~TryLoadUnloadReporter();
+    void Progress(bool sensorState);
+    void DumpToSerial();
+
+    private:
+    // @brief Add one block to the progress bar
+    // @param col pixel position on the LCD status line, should range from 0 to (LCD_WIDTH - 1)
+    // @param sensorState if true, filament is not present, else filament is present. This controls which character to render
+    void Render(uint8_t col, bool sensorState);
+
+    uint8_t dpixel0, dpixel1;
+    uint8_t lcd_cursor_col;
+    // The total length is twice delta_mm. Divide that length by number of pixels
+    // available to get length per pixel.
+    // Note: Below is the reciprocal of (2 * delta_mm) / LCD_WIDTH [mm/pixel]
+    float pixel_per_mm;
+  };
+
+  // Remders the sensor status line. Also used by the "resume temperature" screen.
+  void ReportErrorHookDynamicRender();
+
+  // Renders the static part of the sensor state line. Also used by "resuming temperature screen"
+  void ReportErrorHookSensorLineRender();
+
+  // @return true if the MMU is communicating and available. Can change at runtime.
+  //bool MMUAvailable();
+
+  // Global Enable/Disable use MMU (to be stored in EEPROM)
+  //bool UseMMU();
+
+  // Disable MMU in EEPROM
+  //void DisableMMUInSettings();
+
+  // Increments EEPROM cell - number of failed loads into the nozzle
+  // Note: technically, this is not an MMU error but an error of the printer.
+  void IncrementLoadFails();
+
+  // Increments EEPROM cell - number of MMU errors
+  void IncrementMMUFails();
+
+  // @return true when Cutter is enabled in the menus
+  bool cutter_enabled();
+
+  // Beware: enum values intentionally chosen to match the 8bit FW to save code size
+  enum SoundType {
+    Prompt = 2,
+    Confirm = 3
+  };
+
+  void MakeSound(SoundType s);
+
+  void fullScreenMsgCut(uint8_t slot);
+  void fullScreenMsgEject(uint8_t slot);
+  void fullScreenMsgTest(uint8_t slot);
+  void fullScreenMsgLoad(uint8_t slot);
+  void fullScreenMsgRestoringTemperature();
+
+  void ScreenUpdateEnable();
+  void ScreenClear();
+
+  void tuneIdlerStallguardThreshold();
+
+  void write_register_and_return_to_status_menu(uint8_t address, uint8_t value);
+
+} // MMU3
@@ -0,0 +1,48 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2_state.h
+ */
+
+#include <stdint.h>
+
+namespace MMU3 {
+  /**
+   * @brief status of mmu
+   *
+   * States of a printer with the MMU:
+   * - Active
+   * - Connecting
+   * - Stopped
+   *
+   * When the printer's FW starts, the MMU mode is either Stopped or NotResponding (based on user's preference).
+   * When the MMU successfully establishes communication, the state changes to Active.
+   */
+  enum class xState : uint_fast8_t {
+    Active,     //!< MMU has been detected, connected, communicates and is ready to be worked with.
+    Connecting, //!< MMU is connected but it doesn't communicate (yet). The user wants the MMU, but it is not ready to be worked with.
+    Stopped     //!< The user doesn't want the printer to work with the MMU. The MMU itself is not powered and does not work at all.
+  };
+
+} // MMU3
@@ -0,0 +1,32 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * mmu2_supported_version.h
+ */
+
+#include <stdint.h>
+
+#define mmuVersionMajor 3
+#define mmuVersionMinor 0
+#define mmuVersionPatch 2
@@ -0,0 +1,159 @@
+# MMU3 Messages
+
+Starting with the version 2.0.19 of the MMU firmware, requests and responses have a trailing section that contains the CRC8 of the original message. The general structure is as follows:
+
+```
+Requests (what Marlin requests):
+MMU3:>{RequestMsgCode}{Value}*{CRC8}\n
+
+Responses (what MMU responds with):
+MMU3:<{RequestMsgCode}{Value} {ResponseMsgParamCode}{paramValue}*{CRC8}\n
+```
+
+An example of that would be:
+
+```
+MMU3:>S0*c6\n
+MMU3:<S0 A3*22\n
+
+MMU3:>S1*ad\n
+MMU3:<S1 A0*34\n
+
+MMU3:>S2*10\n
+MMU3:<S2 A2*65\n
+```
+
+This set of responses combines to indicate firmware version 3.0.2.
+
+## Startup sequence
+
+When initialized the MMU waits for requests. Marlin repeatedly sends `S0` commands until it gets an answer:
+```
+MMU3:>S0*c6\n
+MMU3:>S0*c6\n
+MMU3:>S0*c6\n
+...
+```
+
+Once communication is established the MMU responds with:
+```
+MMU3:<S0 A3*22\n
+```
+
+Then Marlin continues to get the rest of the MMU firmware version.
+```
+MMU3:>S1*ad\n
+MMU3:<S1 A0*34\n
+MMU3:>S2*10\n
+MMU3:<S2 A2*65\n
+```
+
+Setting the stepper mode to SpreadCycle (M0) or StealthChop (M1):
+```
+MMU3:>M1*{CRC8};
+MMU3:<---nothing---
+```
+
+```
+MMU3:>P0
+MMU3:<P0 A{FINDA status}*{CRC8}\n
+```
+
+At this point we can be sure the MMU is available and ready. If there was a timeout or other communication problem somewhere, the printer will not be killed, but for safety the MMU feature will be disabled.
+
+- *Firmware version* is an integer value, and we care about it. As there is no other way of knowing which protocol to use.
+- *FINDA status* is 1 if the filament is loaded to the extruder, 0 otherwise.
+
+The *Firmware version* is checked against the required value. If it doesn't match the printer will not be halted, but for safety the MMU feature will be disabled.
+
+## Toolchange
+
+```
+MMU3:>T{Filament index}*{CRC8}\n
+MMU3:<Q0*ea\n
+```
+
+The MMU sends:
+```
+MMU3:<T{filament index}*P{ProgressCode}{CRC8}\n
+```
+
+Which in normal operation would be as follows, let's say that we requested MMU to load `T0``:
+```
+MMU3:>T0*{CRC8}\n
+
+MMU3:>Q0*{CRC8}\n
+MMU3:<T0*P5{CRC8}\n  # P5 => FeedingToFinda
+
+MMU3:>Q0*{CRC8}\n
+MMU3:<T0*P7{CRC8}\n  # P7 => FeedingToNozzle
+```
+
+As soon as the filament is fed down to the extruder we follow with:
+
+```
+MMU3:>C0*{CRC8}\n
+```
+
+The MMU will feed a few more millimeters of filament for the extruder gears to grab. When done, the MMU sends:
+```
+MMU3:>Q0*{CRC8}\n
+MMU3:<T0*P9{CRC8}\n  # P9 => FinishingMoves
+```
+
+After the `T0*P9` response we immediately continue with the next G-code which should be one or more extruder moves to feed the filament into the hotend.
+
+
+## FINDA status
+```
+MMU3:>P0*{CRC8}\n
+```
+
+If the filament is loaded to the extruder, FINDA status is 1 and the MMU responds with:
+```
+MMU3:<P0 A1*{CRC8}\n
+```
+
+…otherwise it replies:
+```
+MMU3:<P0 A0*7b\n
+```
+
+This could be used as a filament runout sensor if polled regularly.
+
+## Load filament
+
+To load a filament to the MMU itself, we run:
+```
+MMU3:>L{Filament index}*{CRC8}\n
+MMU3:<L{Filament index} A1*{CRC8}\n
+```
+
+…and immediately after that we query the status:
+```
+MMU3:>Q0*{CRC8}\n
+```
+
+The MMU will respond with status messages:
+```
+MMU3:<L0*P5{CRC8}\n
+```
+
+The MMU will load the filament and when done:
+```
+MMU3:>Q0*{CRC8}\n
+MMU3:<L0*P9{CRC8}\n
+```
+
+## Unload filament
+
+- `MMU <= 'U0\n'`
+
+The MMU will retract current filament from the extruder, and when done:
+
+- `MMU => 'ok\n'`
+
+## Eject filament
+
+- `MMU <= 'E*Filament index*\n'`
+- `MMU => 'ok\n'`
@@ -0,0 +1,73 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * buttons.h
+ */
+
+#include <stdint.h>
+
+// Helper macros to parse the operations from Btns()
+#define BUTTON_OP_RIGHT(X)  ((X & 0xF0) >> 4)
+#define BUTTON_OP_MIDDLE(X) (X & 0x0F)
+
+namespace MMU3 {
+
+// Will be mapped onto dialog button responses in the FW
+// Those responses have their unique+translated texts as well
+enum class ButtonOperations : uint8_t {
+  NoOperation = 0,
+  Retry       = 1,
+  Continue    = 2,
+  ResetMMU    = 3,
+  Unload      = 4,
+  Load        = 5,
+  Eject       = 6,
+  Tune        = 7,
+  StopPrint   = 8,
+  DisableMMU  = 9,
+  MoreInfo    = 10,
+};
+
+// Button codes + extended actions performed on the printer's side
+enum class Buttons : uint_least8_t {
+  Right = 0,
+  Middle,
+  Left,
+
+  // Performed on the printer's side
+  ResetMMU,
+  Load,
+  Eject,
+  StopPrint,
+  DisableMMU,
+  TuneMMU, // Printer changes MMU register value
+
+  NoButton = 0xFF // should be kept last
+};
+
+constexpr uint_least8_t buttons_to_uint8t(Buttons b) {
+  return static_cast<uint8_t>(b);
+}
+
+} // MMU3
@@ -0,0 +1,55 @@
+#!/bin/bash
+
+# download Prusa Error Codes for MMU
+#wget https://raw.githubusercontent.com/3d-gussner/Prusa-Error-Codes/master/04_MMU/error-codes.yaml --output-document=error-codes.yaml
+wget https://raw.githubusercontent.com/prusa3d/Prusa-Error-Codes/master/04_MMU/error-codes.yaml --output-document=error-codes.yaml
+
+oifs="$IFS"  ## save original IFS
+IFS=$'\n'    ## set IFS to break on newline
+codes=($(cat error-codes.yaml |grep "code:" |cut -d '"' -f2))
+titles=($(cat error-codes.yaml |grep 'title:' |cut -d '"' -f2))
+texts=($(cat error-codes.yaml |grep "text:" |cut -d '"' -f2))
+actions=($(cat error-codes.yaml |grep "action:" |cut -d ':' -f2))
+ids=($(cat error-codes.yaml |grep "id:" |cut -d '"' -f2))
+IFS="$oifs"  ## restore original IFS
+
+filename=errors_list.h
+
+clear
+for ((i = 0; i < ${#codes[@]}; i++)) do
+  code=${codes[i]}
+  id=$(cat $filename |grep "${code#04*}" | cut -d "=" -f1 | cut -d "_" -f3- |cut -d " " -f1)
+  title=$(cat $filename |grep "${id}" |grep --max-count=1 "MSG_TITLE" |cut -d '"' -f2)
+  text=$(cat $filename |grep "${id}" |grep --max-count=1 "MSG_DESC" |cut -d '"' -f2)
+  action1=$(cat $filename |grep "),//$id"| cut -d "," -f1)
+  action2=$(cat $filename |grep "),//$id"| cut -d "," -f2)
+  action1=$(echo $action1 | cut -d ":" -f2- |cut -d ":" -f2)
+  action2=$(echo $action2 | cut -d ":" -f2- |cut -d ":" -f2 |cut -d ")" -f1)
+  if [ "$action2" == "NoOperation" ]; then
+  action=" [$action1]"
+  else
+  action=" [$action1,$action2]"
+  fi
+  echo -n "code: $code |"
+  if [ "$id" != "${ids[i]}" ]; then
+    echo -n "$(tput setaf 1) $id $(tput sgr0) # $(tput setaf 2)${ids[i]}$(tput sgr0)|"
+  else
+    echo -n " $id |"
+  fi
+  if [ "$title" != "${titles[i]}" ]; then
+    echo -n "$(tput setaf 1) $title $(tput sgr0) # $(tput setaf 2)${titles[i]}$(tput sgr0)|"
+  else
+    echo -n " $title |"
+  fi
+  if [ "$text" != "${texts[i]}" ]; then
+    echo -n "$(tput setaf 1) $text $(tput sgr0) # $(tput setaf 2)${texts[i]}$(tput sgr0)|"
+  else
+    echo -n " $text |"
+  fi
+  if [ "$action" != "${actions[i]}" ]; then
+    echo -n "$(tput setaf 1) $action $(tput sgr0) # $(tput setaf 2)${actions[i]}$(tput sgr0)|"
+  else
+    echo -n " $action |"
+  fi
+  echo
+done
@@ -0,0 +1,151 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * error_codes.h
+ */
+
+#include <stdint.h>
+
+/**
+ * A complete set of error codes which may be a result of a high-level command/operation.
+ * This header file should be included in the printer's firmware as well as a reference,
+ * therefore the error codes have been extracted to one place.
+ *
+ * Please note the errors are intentionally coded as "negative" values (highest bit set),
+ * becase they are a complement to reporting the state of the high-level state machines -
+ * positive values are considered as normal progress, negative values are errors.
+ *
+ * Please note, that multiple TMC errors can occur at once, thus they are defined as a bitmask of the higher byte.
+ * Also, as there are 3 TMC drivers on the board, each error is added a bit for the corresponding TMC -
+ * TMC_PULLEY_BIT, TMC_SELECTOR_BIT, TMC_IDLER_BIT,
+ * The resulting error is a bitwise OR over 3 TMC drivers and their status, which should cover most of the situations correctly.
+ */
+enum class ErrorCode : uint_fast16_t {
+  RUNNING                    = 0x0000, //!< the operation is still running - keep this value as ZERO as it is used for initialization of error codes as well
+  OK                         = 0x0001, //!< the operation finished OK
+
+  // TMC bit masks
+  TMC_PULLEY_BIT             = 0x0040, //!< +64 TMC Pulley bit
+  TMC_SELECTOR_BIT           = 0x0080, //!< +128 TMC Pulley bit
+  TMC_IDLER_BIT              = 0x0100, //!< +256 TMC Pulley bit
+
+  // Unload Filament related error codes
+  FINDA_DIDNT_SWITCH_ON      = 0x8001, //!< E32769 FINDA didn't switch on while loading filament - either there is something blocking the metal ball or a cable is broken/disconnected
+  FINDA_DIDNT_SWITCH_OFF     = 0x8002, //!< E32770 FINDA didn't switch off while unloading filament
+
+  FSENSOR_DIDNT_SWITCH_ON    = 0x8003, //!< E32771 Filament sensor didn't switch on while performing LoadFilament
+  FSENSOR_DIDNT_SWITCH_OFF   = 0x8004, //!< E32772 Filament sensor didn't switch off while performing UnloadFilament
+
+  FILAMENT_ALREADY_LOADED    = 0x8005, //!< E32773 cannot perform operation LoadFilament or move the selector as the filament is already loaded
+
+  INVALID_TOOL               = 0x8006, //!< E32774 tool/slot index out of range (typically issuing T5 into an MMU with just 5 slots - valid range 0-4)
+
+  HOMING_FAILED              = 0x8007, //!< generic homing failed error - always reported with the corresponding axis bit set (Idler or Selector) as follows:
+  HOMING_SELECTOR_FAILED     = HOMING_FAILED | TMC_SELECTOR_BIT, //!< E32903 the Selector was unable to home properly - that means something is blocking its movement
+  HOMING_IDLER_FAILED        = HOMING_FAILED | TMC_IDLER_BIT, //!< E33031 the Idler was unable to home properly - that means something is blocking its movement
+  STALLED_PULLEY             = HOMING_FAILED | TMC_PULLEY_BIT, //!< E32839 for the Pulley "homing" means just StallGuard detected during Pulley's operation (Pulley doesn't home)
+
+  FINDA_VS_EEPROM_DISREPANCY = 0x8008, //!< E32776 FINDA is pressed but we have no such record in EEPROM - this can only happen at the start of the MMU and can be resolved by issuing an Unload command
+
+  FSENSOR_TOO_EARLY          = 0x8009, //!< E32777 FSensor triggered while doing FastFeedToBondtech - that means either:
+  //!< - the PTFE is too short
+  //!< - a piece of filament was left inside - pushed in front of the loaded filament causing the fsensor trigger too early
+  //!< - fsensor is faulty producing bogus triggers
+
+  FINDA_FLICKERS             = 0x800A, //!< FINDA flickers - seems to be badly calibrated and happens to be pressed at spots where it used to be not pressed before.
+  //!< The user is obliged to inspect FINDA and tune its switching
+
+  MOVE_FAILED                = 0x800B, //!< generic move failed error - always reported with the corresponding axis bit set (Idler or Selector) as follows:
+  MOVE_SELECTOR_FAILED       = MOVE_FAILED | TMC_SELECTOR_BIT, //!< E32905 the Selector was unable to move to desired position properly - that means something is blocking its movement, e.g. a piece of filament got out of pulley body
+  MOVE_IDLER_FAILED          = MOVE_FAILED | TMC_IDLER_BIT, //!< E33033 the Idler was unable to move - unused at the time of creation, but added for completeness
+  MOVE_PULLEY_FAILED         = MOVE_FAILED | TMC_PULLEY_BIT, //!< E32841 the Pulley was unable to move - unused at the time of creation, but added for completeness
+
+  FILAMENT_EJECTED           = 0x800C, //!< Filament was ejected, waiting for user input - technically, this is not an error
+
+  MCU_UNDERVOLTAGE_VCC       = 0x800D, //!< MCU VCC rail undervoltage.
+
+  FILAMENT_CHANGE            = 0x8029, //!< E32809 internal error of the printer - try-load-unload sequence detected missing filament -> failed load into the nozzle
+  LOAD_TO_EXTRUDER_FAILED    = 0x802A, //!< E32810 internal error of the printer - try-load-unload sequence detected missing filament -> failed load into the nozzle
+  QUEUE_FULL                 = 0x802B, //!< E32811 internal logic error - attempt to move with a full queue
+  VERSION_MISMATCH           = 0x802C, //!< E32812 internal error of the printer - incompatible version of the MMU FW
+  PROTOCOL_ERROR             = 0x802D, //!< E32813 internal error of the printer - communication with the MMU got garbled - protocol decoder couldn't decode the incoming messages
+  MMU_NOT_RESPONDING         = 0x802E, //!< E32814 internal error of the printer - communication with the MMU is not working
+  INTERNAL                   = 0x802F, //!< E32815 internal runtime error (software)
+
+  // TMC driver init error - TMC dead or bad communication
+  // - E33344 Pulley TMC driver
+  // - E33408 Selector TMC driver
+  // - E33536 Idler TMC driver
+  // - E33728 All 3 TMC driver
+  TMC_IOIN_MISMATCH = 0x8200,
+
+  // TMC driver reset - recoverable, we just need to rehome the axis
+  // Idler: can be rehomed any time
+  // Selector: if there is a filament, remove it and rehome, if there is no filament, just rehome
+  // Pulley: do nothing - for the loading sequence - just restart and move slowly, for the unload sequence just restart
+  // - E33856 Pulley TMC driver
+  // - E33920 Selector TMC driver
+  // - E34048 Idler TMC driver
+  // - E34240 All 3 TMC driver
+  TMC_RESET = 0x8400,
+
+  // not enough current for the TMC, NOT RECOVERABLE
+  // - E34880 Pulley TMC driver
+  // - E34944 Selector TMC driver
+  // - E35072 Idler TMC driver
+  // - E35264 All 3 TMC driver
+  TMC_UNDERVOLTAGE_ON_CHARGE_PUMP = 0x8800,
+
+  // TMC driver serious error - short to ground on coil A or coil B - dangerous to recover
+  // - E36928 Pulley TMC driver
+  // - E36992 Selector TMC driver
+  // - E37120 Idler TMC driver
+  // - E37312 All 3 TMC driver
+  TMC_SHORT_TO_GROUND = 0x9000,
+
+  // TMC driver over temperature warning - can be recovered by restarting the driver.
+  // If this error happens, we should probably go into the error state as soon as the current command is finished.
+  // The driver technically still works at this point.
+  // - E41024 Pulley TMC driver
+  // - E41088 Selector TMC driver
+  // - E41216 Idler TMC driver
+  // - E41408 All 3 TMC driver
+  TMC_OVER_TEMPERATURE_WARN = 0xA000,
+
+  // TMC driver over temperature error - we really shouldn't ever reach this error.
+  // It can still be recovered if the driver cools down below 120C.
+  // The driver needs to be disabled and enabled again for operation to resume after this error is cleared.
+  // - E49216 Pulley TMC driver
+  // - E49280 Selector TMC driver
+  // - E49408 Idler TMC driver
+  // - E49600 All 3 TMC driver
+  TMC_OVER_TEMPERATURE_ERROR = 0xC000,
+
+  // TMC driver - IO pins are unreliable. While in theory it's recoverable, in practice it most likely
+  // means your hardware is borked (we can't command the drivers reliably via STEP/EN/DIR due to electrical
+  // issues or hardware fault. Possible "fixable" cause is undervoltage on the 5v logic line.
+  // Unfixable possible cause: bad or cracked solder joints on the PCB, failed shift register, failed driver.
+  MMU_SOLDERING_NEEDS_ATTENTION = 0xC200,
+
+};
@@ -0,0 +1,352 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * errors_list.h
+ */
+
+/**
+ * Extracted from Prusa-Error-Codes repo
+ * Subject to automation and optimization
+ * BEWARE - This file should only be included by mmu2_error_converter.cpp!
+ */
+#include "inttypes.h"
+#include "../../../core/language.h"
+#include "../../../lcd/marlinui.h"
+#ifdef __AVR__
+  #include <avr/pgmspace.h>
+#endif
+#include "buttons.h"
+#include "../strlen_cx.h"
+#include "../ultralcd.h"
+
+namespace MMU3 {
+
+static constexpr uint8_t ERR_MMU_CODE = 4;
+
+typedef enum : uint16_t {
+  ERR_UNDEF = 0,
+
+  ERR_MECHANICAL = 100,
+  ERR_MECHANICAL_FINDA_DIDNT_TRIGGER = 101,
+  ERR_MECHANICAL_FINDA_FILAMENT_STUCK = 102,
+  ERR_MECHANICAL_FSENSOR_DIDNT_TRIGGER = 103,
+  ERR_MECHANICAL_FSENSOR_FILAMENT_STUCK = 104,
+
+  ERR_MECHANICAL_PULLEY_CANNOT_MOVE = 105,
+  ERR_MECHANICAL_FSENSOR_TOO_EARLY = 106,
+  ERR_MECHANICAL_INSPECT_FINDA = 107,
+  ERR_MECHANICAL_LOAD_TO_EXTRUDER_FAILED = 108,
+  ERR_MECHANICAL_SELECTOR_CANNOT_HOME = 115,
+  ERR_MECHANICAL_SELECTOR_CANNOT_MOVE = 116,
+  ERR_MECHANICAL_IDLER_CANNOT_HOME = 125,
+  ERR_MECHANICAL_IDLER_CANNOT_MOVE = 126,
+
+  ERR_TEMPERATURE = 200,
+  ERR_TEMPERATURE_WARNING_TMC_PULLEY_TOO_HOT = 201,
+  ERR_TEMPERATURE_WARNING_TMC_SELECTOR_TOO_HOT = 211,
+  ERR_TEMPERATURE_WARNING_TMC_IDLER_TOO_HOT = 221,
+
+  ERR_TEMPERATURE_TMC_PULLEY_OVERHEAT_ERROR = 202,
+  ERR_TEMPERATURE_TMC_SELECTOR_OVERHEAT_ERROR = 212,
+  ERR_TEMPERATURE_TMC_IDLER_OVERHEAT_ERROR = 222,
+
+
+  ERR_ELECTRICAL = 300,
+  ERR_ELECTRICAL_TMC_PULLEY_DRIVER_ERROR = 301,
+  ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_ERROR = 311,
+  ERR_ELECTRICAL_TMC_IDLER_DRIVER_ERROR = 321,
+
+  ERR_ELECTRICAL_TMC_PULLEY_DRIVER_RESET = 302,
+  ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_RESET = 312,
+  ERR_ELECTRICAL_TMC_IDLER_DRIVER_RESET = 322,
+
+  ERR_ELECTRICAL_TMC_PULLEY_UNDERVOLTAGE_ERROR = 303,
+  ERR_ELECTRICAL_TMC_SELECTOR_UNDERVOLTAGE_ERROR = 313,
+  ERR_ELECTRICAL_TMC_IDLER_UNDERVOLTAGE_ERROR = 323,
+
+  ERR_ELECTRICAL_TMC_PULLEY_DRIVER_SHORTED = 304,
+  ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_SHORTED = 314,
+  ERR_ELECTRICAL_TMC_IDLER_DRIVER_SHORTED = 324,
+
+  ERR_ELECTRICAL_MMU_PULLEY_SELFTEST_FAILED = 305,
+  ERR_ELECTRICAL_MMU_SELECTOR_SELFTEST_FAILED = 315,
+  ERR_ELECTRICAL_MMU_IDLER_SELFTEST_FAILED = 325,
+
+  ERR_ELECTRICAL_MMU_MCU_ERROR = 306,
+
+  ERR_CONNECT = 400,
+  ERR_CONNECT_MMU_NOT_RESPONDING = 401,
+  ERR_CONNECT_COMMUNICATION_ERROR = 402,
+
+
+  ERR_SYSTEM = 500,
+  ERR_SYSTEM_FILAMENT_ALREADY_LOADED = 501,
+  ERR_SYSTEM_INVALID_TOOL = 502,
+  ERR_SYSTEM_QUEUE_FULL = 503,
+  ERR_SYSTEM_FW_UPDATE_NEEDED = 504,
+  ERR_SYSTEM_FW_RUNTIME_ERROR = 505,
+  ERR_SYSTEM_UNLOAD_MANUALLY = 506,
+  ERR_SYSTEM_FILAMENT_EJECTED = 507,
+  ERR_SYSTEM_FILAMENT_CHANGE = 508,
+
+  ERR_OTHER_UNKNOWN_ERROR = 900
+} err_num_t;
+
+// Avr gcc has serious trouble understanding static data structures in PROGMEM
+// and inadvertedly falls back to copying the whole structure into RAM (which is obviously unwanted).
+// But since this file ought to be generated in the future from yaml prescription,
+// it really makes no difference if there are "nice" data structures or plain arrays.
+static const constexpr err_num_t errorCodes[] PROGMEM = {
+  ERR_MECHANICAL_FINDA_DIDNT_TRIGGER,
+  ERR_MECHANICAL_FINDA_FILAMENT_STUCK,
+  ERR_MECHANICAL_FSENSOR_DIDNT_TRIGGER,
+  ERR_MECHANICAL_FSENSOR_FILAMENT_STUCK,
+  ERR_MECHANICAL_PULLEY_CANNOT_MOVE,
+  ERR_MECHANICAL_FSENSOR_TOO_EARLY,
+  ERR_MECHANICAL_INSPECT_FINDA,
+  ERR_MECHANICAL_LOAD_TO_EXTRUDER_FAILED,
+  ERR_MECHANICAL_SELECTOR_CANNOT_HOME,
+  ERR_MECHANICAL_SELECTOR_CANNOT_MOVE,
+  ERR_MECHANICAL_IDLER_CANNOT_HOME,
+  ERR_MECHANICAL_IDLER_CANNOT_MOVE,
+  ERR_TEMPERATURE_WARNING_TMC_PULLEY_TOO_HOT,
+  ERR_TEMPERATURE_WARNING_TMC_SELECTOR_TOO_HOT,
+  ERR_TEMPERATURE_WARNING_TMC_IDLER_TOO_HOT,
+  ERR_TEMPERATURE_TMC_PULLEY_OVERHEAT_ERROR,
+  ERR_TEMPERATURE_TMC_SELECTOR_OVERHEAT_ERROR,
+  ERR_TEMPERATURE_TMC_IDLER_OVERHEAT_ERROR,
+  ERR_ELECTRICAL_TMC_PULLEY_DRIVER_ERROR,
+  ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_ERROR,
+  ERR_ELECTRICAL_TMC_IDLER_DRIVER_ERROR,
+  ERR_ELECTRICAL_TMC_PULLEY_DRIVER_RESET,
+  ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_RESET,
+  ERR_ELECTRICAL_TMC_IDLER_DRIVER_RESET,
+  ERR_ELECTRICAL_TMC_PULLEY_UNDERVOLTAGE_ERROR,
+  ERR_ELECTRICAL_TMC_SELECTOR_UNDERVOLTAGE_ERROR,
+  ERR_ELECTRICAL_TMC_IDLER_UNDERVOLTAGE_ERROR,
+  ERR_ELECTRICAL_TMC_PULLEY_DRIVER_SHORTED,
+  ERR_ELECTRICAL_TMC_SELECTOR_DRIVER_SHORTED,
+  ERR_ELECTRICAL_TMC_IDLER_DRIVER_SHORTED,
+  ERR_ELECTRICAL_MMU_PULLEY_SELFTEST_FAILED,
+  ERR_ELECTRICAL_MMU_SELECTOR_SELFTEST_FAILED,
+  ERR_ELECTRICAL_MMU_IDLER_SELFTEST_FAILED,
+  ERR_ELECTRICAL_MMU_MCU_ERROR,
+  ERR_CONNECT_MMU_NOT_RESPONDING,
+  ERR_CONNECT_COMMUNICATION_ERROR,
+  ERR_SYSTEM_FILAMENT_ALREADY_LOADED,
+  ERR_SYSTEM_INVALID_TOOL,
+  ERR_SYSTEM_QUEUE_FULL,
+  ERR_SYSTEM_FW_UPDATE_NEEDED,
+  ERR_SYSTEM_FW_RUNTIME_ERROR,
+  ERR_SYSTEM_UNLOAD_MANUALLY,
+  ERR_SYSTEM_FILAMENT_EJECTED,
+  ERR_SYSTEM_FILAMENT_CHANGE,
+  ERR_OTHER_UNKNOWN_ERROR
+};
+
+FSTR_P const errorTitles[] PROGMEM = {
+  GET_TEXT_F(MSG_TITLE_FINDA_DIDNT_TRIGGER),
+  GET_TEXT_F(MSG_TITLE_FINDA_FILAMENT_STUCK),
+  GET_TEXT_F(MSG_TITLE_FSENSOR_DIDNT_TRIGGER),
+  GET_TEXT_F(MSG_TITLE_FSENSOR_FILAMENT_STUCK),
+  GET_TEXT_F(MSG_TITLE_PULLEY_CANNOT_MOVE),
+  GET_TEXT_F(MSG_TITLE_FSENSOR_TOO_EARLY),
+  GET_TEXT_F(MSG_TITLE_INSPECT_FINDA),
+  GET_TEXT_F(MSG_TITLE_LOAD_TO_EXTRUDER_FAILED),
+  GET_TEXT_F(MSG_TITLE_SELECTOR_CANNOT_HOME),
+  GET_TEXT_F(MSG_TITLE_SELECTOR_CANNOT_MOVE),
+  GET_TEXT_F(MSG_TITLE_IDLER_CANNOT_HOME),
+  GET_TEXT_F(MSG_TITLE_IDLER_CANNOT_MOVE),
+  GET_TEXT_F(MSG_TITLE_TMC_WARNING_TMC_TOO_HOT),
+  GET_TEXT_F(MSG_TITLE_TMC_WARNING_TMC_TOO_HOT),
+  GET_TEXT_F(MSG_TITLE_TMC_WARNING_TMC_TOO_HOT),
+  GET_TEXT_F(MSG_TITLE_TMC_OVERHEAT_ERROR),
+  GET_TEXT_F(MSG_TITLE_TMC_OVERHEAT_ERROR),
+  GET_TEXT_F(MSG_TITLE_TMC_OVERHEAT_ERROR),
+  GET_TEXT_F(MSG_TITLE_TMC_DRIVER_ERROR),
+  GET_TEXT_F(MSG_TITLE_TMC_DRIVER_ERROR),
+  GET_TEXT_F(MSG_TITLE_TMC_DRIVER_ERROR),
+  GET_TEXT_F(MSG_TITLE_TMC_DRIVER_RESET),
+  GET_TEXT_F(MSG_TITLE_TMC_DRIVER_RESET),
+  GET_TEXT_F(MSG_TITLE_TMC_DRIVER_RESET),
+  GET_TEXT_F(MSG_TITLE_TMC_UNDERVOLTAGE_ERROR),
+  GET_TEXT_F(MSG_TITLE_TMC_UNDERVOLTAGE_ERROR),
+  GET_TEXT_F(MSG_TITLE_TMC_UNDERVOLTAGE_ERROR),
+  GET_TEXT_F(MSG_TITLE_TMC_DRIVER_SHORTED),
+  GET_TEXT_F(MSG_TITLE_TMC_DRIVER_SHORTED),
+  GET_TEXT_F(MSG_TITLE_TMC_DRIVER_SHORTED),
+  GET_TEXT_F(MSG_TITLE_SELFTEST_FAILED),
+  GET_TEXT_F(MSG_TITLE_SELFTEST_FAILED),
+  GET_TEXT_F(MSG_TITLE_SELFTEST_FAILED),
+  GET_TEXT_F(MSG_TITLE_MMU_MCU_ERROR),
+  GET_TEXT_F(MSG_TITLE_MMU_NOT_RESPONDING),
+  GET_TEXT_F(MSG_TITLE_COMMUNICATION_ERROR),
+  GET_TEXT_F(MSG_TITLE_FILAMENT_ALREADY_LOADED),
+  GET_TEXT_F(MSG_TITLE_INVALID_TOOL),
+  GET_TEXT_F(MSG_TITLE_QUEUE_FULL),
+  GET_TEXT_F(MSG_TITLE_FW_UPDATE_NEEDED),
+  GET_TEXT_F(MSG_TITLE_FW_RUNTIME_ERROR),
+  GET_TEXT_F(MSG_TITLE_UNLOAD_MANUALLY),
+  GET_TEXT_F(MSG_TITLE_FILAMENT_EJECTED),
+  GET_TEXT_F(MSG_TITLE_FILAMENT_CHANGE),
+  GET_TEXT_F(MSG_TITLE_UNKNOWN_ERROR)
+};
+
+// @@TODO Looking at the texts, they can be composed of several parts and/or parameterized (could save a lot of space) )
+// Moreover, some of them have been disabled in favour of saving some more code size.
+
+FSTR_P const errorDescs[] PROGMEM = {
+  GET_TEXT_F(MSG_DESC_FINDA_DIDNT_TRIGGER),
+  GET_TEXT_F(MSG_DESC_FINDA_FILAMENT_STUCK),
+  GET_TEXT_F(MSG_DESC_FSENSOR_DIDNT_TRIGGER),
+  GET_TEXT_F(MSG_DESC_FSENSOR_FILAMENT_STUCK),
+  GET_TEXT_F(MSG_DESC_PULLEY_CANNOT_MOVE),
+  GET_TEXT_F(MSG_DESC_FSENSOR_TOO_EARLY),
+  GET_TEXT_F(MSG_DESC_INSPECT_FINDA),
+  GET_TEXT_F(MSG_DESC_LOAD_TO_EXTRUDER_FAILED),
+  GET_TEXT_F(MSG_DESC_SELECTOR_CANNOT_HOME),
+  GET_TEXT_F(MSG_DESC_CANNOT_MOVE),
+  GET_TEXT_F(MSG_DESC_IDLER_CANNOT_HOME),
+  GET_TEXT_F(MSG_DESC_CANNOT_MOVE),
+  GET_TEXT_F(MSG_DESC_TMC), // WARNING_TMC_PULLEY_TOO_HOT
+  GET_TEXT_F(MSG_DESC_TMC), // WARNING_TMC_SELECTOR_TOO_HOT
+  GET_TEXT_F(MSG_DESC_TMC), // WARNING_TMC_IDLER_TOO_HOT
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_PULLEY_OVERHEAT_ERROR
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_SELECTOR_OVERHEAT_ERROR
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_IDLER_OVERHEAT_ERROR
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_PULLEY_DRIVER_ERROR
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_SELECTOR_DRIVER_ERROR
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_IDLER_DRIVER_ERROR
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_PULLEY_DRIVER_RESET
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_SELECTOR_DRIVER_RESET
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_IDLER_DRIVER_RESET
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_PULLEY_UNDERVOLTAGE_ERROR
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_SELECTOR_UNDERVOLTAGE_ERROR
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_IDLER_UNDERVOLTAGE_ERROR
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_PULLEY_DRIVER_SHORTED
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_SELECTOR_DRIVER_SHORTED
+  GET_TEXT_F(MSG_DESC_TMC), // TMC_IDLER_DRIVER_SHORTED
+  GET_TEXT_F(MSG_DESC_TMC), // MMU_PULLEY_SELFTEST_FAILED
+  GET_TEXT_F(MSG_DESC_TMC), // MMU_SELECTOR_SELFTEST_FAILED
+  GET_TEXT_F(MSG_DESC_TMC), // MMU_IDLER_SELFTEST_FAILED
+  GET_TEXT_F(MSG_DESC_TMC), // MSG_DESC_MMU_MCU_ERROR
+  GET_TEXT_F(MSG_DESC_MMU_NOT_RESPONDING),
+  GET_TEXT_F(MSG_DESC_COMMUNICATION_ERROR),
+  GET_TEXT_F(MSG_DESC_FILAMENT_ALREADY_LOADED),
+  GET_TEXT_F(MSG_DESC_INVALID_TOOL),
+  GET_TEXT_F(MSG_DESC_QUEUE_FULL),
+  GET_TEXT_F(MSG_DESC_FW_UPDATE_NEEDED),
+  GET_TEXT_F(MSG_DESC_FW_RUNTIME_ERROR),
+  GET_TEXT_F(MSG_DESC_UNLOAD_MANUALLY),
+  GET_TEXT_F(MSG_DESC_FILAMENT_EJECTED),
+  GET_TEXT_F(MSG_DESC_FILAMENT_CHANGE),
+  GET_TEXT_F(MSG_DESC_UNKNOWN_ERROR)
+};
+
+// We have max 3 buttons/operations to select from.
+// One of them is "More" to show the explanation text normally hidden in the next screens.
+// It is displayed with W (Double down arrow, special character from CGRAM)
+// 01234567890123456789
+// >bttxt   >bttxt   >W
+// Therefore at least some of the buttons, which can occur on the screen together, can only be 8-chars long max @@TODO.
+// Beware - we only have space for 2 buttons on the LCD while the MMU has 3 buttons
+// -> the left button on the MMU is not used/rendered on the LCD (it is also almost unused on the MMU side)
+
+// Used to parse the buttons from Btns().
+FSTR_P const btnOperation[] PROGMEM = {
+  GET_TEXT_F(MSG_BTN_RETRY),
+  GET_TEXT_F(MSG_DONE),
+  GET_TEXT_F(MSG_BTN_RESET_MMU),
+  GET_TEXT_F(MSG_BTN_UNLOAD),
+  GET_TEXT_F(MSG_BTN_LOAD),
+  GET_TEXT_F(MSG_BTN_EJECT),
+  GET_TEXT_F(MSG_TUNE),
+  GET_TEXT_F(MSG_BTN_STOP),
+  GET_TEXT_F(MSG_BTN_DISABLE_MMU)
+};
+
+// We have 8 different operations/buttons at this time, so we need at least 4 bits to encode each.
+// Since one of the buttons is always "More", we can skip that one.
+// Therefore we need just 1 byte to describe the necessary buttons for each screen.
+uint8_t constexpr Btns(ButtonOperations bMiddle, ButtonOperations bRight) {
+  return ((uint8_t)bRight) << 4 | ((uint8_t)bMiddle);
+}
+
+static const uint8_t errorButtons[] PROGMEM = {
+  Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),    // FINDA_DIDNT_TRIGGER
+  Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),    // FINDA_FILAMENT_STUCK
+  Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),    // FSENSOR_DIDNT_TRIGGER
+  Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),    // FSENSOR_FILAMENT_STUCK
+
+  Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),    // PULLEY_CANNOT_MOVE
+  Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),    // FSENSOR_TOO_EARLY
+  Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),    // INSPECT_FINDA
+  Btns(ButtonOperations::Continue, ButtonOperations::NoOperation), // LOAD_TO_EXTRUDER_FAILED
+  Btns(ButtonOperations::Retry, ButtonOperations::Tune),           // SELECTOR_CANNOT_HOME
+  Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),    // SELECTOR_CANNOT_MOVE
+  Btns(ButtonOperations::Retry, ButtonOperations::Tune),           // IDLER_CANNOT_HOME
+  Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),    // IDLER_CANNOT_MOVE
+
+  Btns(ButtonOperations::Continue, ButtonOperations::ResetMMU),    // WARNING_TMC_PULLEY_TOO_HOT
+  Btns(ButtonOperations::Continue, ButtonOperations::ResetMMU),    // WARNING_TMC_SELECTOR_TOO_HOT
+  Btns(ButtonOperations::Continue, ButtonOperations::ResetMMU),    // WARNING_TMC_IDLER_TOO_HOT
+
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_PULLEY_OVERHEAT_ERROR
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_SELECTOR_OVERHEAT_ERROR
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_IDLER_OVERHEAT_ERROR
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_PULLEY_DRIVER_ERROR
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_SELECTOR_DRIVER_ERROR
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_IDLER_DRIVER_ERROR
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_PULLEY_DRIVER_RESET
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_SELECTOR_DRIVER_RESET
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_IDLER_DRIVER_RESET
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_PULLEY_UNDERVOLTAGE_ERROR
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_SELECTOR_UNDERVOLTAGE_ERROR
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_IDLER_UNDERVOLTAGE_ERROR
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_PULLEY_DRIVER_SHORTED
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_SELECTOR_DRIVER_SHORTED
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // TMC_IDLER_DRIVER_SHORTED
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // MMU_PULLEY_SELFTEST_FAILED
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // MMU_SELECTOR_SELFTEST_FAILED
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // MMU_IDLER_SELFTEST_FAILED
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // MMU_MCU_ERROR
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::DisableMMU),  // MMU_NOT_RESPONDING
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::DisableMMU),  // COMMUNICATION_ERROR
+
+  Btns(ButtonOperations::Unload, ButtonOperations::Continue),      // FILAMENT_ALREADY_LOADED
+  Btns(ButtonOperations::StopPrint, ButtonOperations::ResetMMU),   // INVALID_TOOL
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // QUEUE_FULL
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::DisableMMU),  // FW_UPDATE_NEEDED
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // FW_RUNTIME_ERROR
+  Btns(ButtonOperations::Retry, ButtonOperations::NoOperation),    // UNLOAD_MANUALLY
+  Btns(ButtonOperations::Continue, ButtonOperations::NoOperation), // FILAMENT_EJECTED
+  Btns(ButtonOperations::Eject, ButtonOperations::Load),           // FILAMENT_CHANGE
+  Btns(ButtonOperations::ResetMMU, ButtonOperations::NoOperation), // UNKOWN_ERROR
+};
+
+static_assert(COUNT(errorCodes) == COUNT(errorDescs));
+static_assert(COUNT(errorCodes) == COUNT(errorTitles));
+static_assert(COUNT(errorCodes) == COUNT(errorButtons));
+
+} // MMU3
@@ -0,0 +1,72 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * progress_codes.h
+ */
+
+#include <stdint.h>
+
+/**
+ * A complete set of progress codes which may be reported while running a high-level command/operation.
+ * This header file should be included in the printer's firmware as well as a reference, so the progress
+ * codes are extracted to one place.
+ */
+enum class ProgressCode : uint_fast8_t {
+  OK = 0, //!< finished ok
+
+  EngagingIdler, // P1
+  DisengagingIdler, // P2
+  UnloadingToFinda, // P3
+  UnloadingToPulley, // P4
+  FeedingToFinda, // P5
+  FeedingToExtruder, // P6
+  FeedingToNozzle, // P7
+  AvoidingGrind, // P8
+  FinishingMoves, // P9
+
+  ERRDisengagingIdler, // P10
+  ERREngagingIdler, // P11
+  ERRWaitingForUser, // P12
+  ERRInternal, // P13
+  ERRHelpingFilament, // P14
+  ERRTMCFailed, // P15
+
+  UnloadingFilament, // P16
+  LoadingFilament, // P17
+  SelectingFilamentSlot, // P18
+  PreparingBlade, // P19
+  PushingFilament, // P20
+  PerformingCut, // P21
+  ReturningSelector, // P22
+  ParkingSelector, // P23
+  EjectingFilament, // P24
+  RetractingFromFinda, // P25
+
+  Homing, // P26
+  MovingSelector, // P27
+
+  FeedingToFSensor, // P28
+
+  Empty = 0xFF // dummy empty state
+};
@@ -0,0 +1,70 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * registers.h
+ */
+
+#include <stdint.h>
+
+namespace MMU3 {
+
+// Register map for MMU
+enum class Register : uint8_t {
+  Project_Major = 0x00,
+  Project_Minor = 0x01,
+  Project_Revision = 0x02,
+  Project_Build_Number = 0x03,
+  MMU_Errors = 0x04,
+  Current_Progress_Code = 0x05,
+  Current_Error_Code = 0x06,
+  Filament_State = 0x07,
+  FINDA_State = 0x08,
+  FSensor_State = 0x09,
+  Motor_Mode = 0x0A,
+  Extra_Load_Distance = 0x0B,
+  FSensor_Unload_Check_Distance = 0xC,
+  Pulley_Unload_Feedrate = 0x0D,
+  Pulley_Acceleration = 0x0E,
+  Selector_Acceleration = 0x0F,
+  Idler_Acceleration = 0x10,
+  Pulley_Load_Feedrate = 0x11,
+  Selector_Nominal_Feedrate = 0x12,
+  Idler_Nominal_Feedrate = 0x13,
+  Pulley_Slow_Feedrate = 0x14,
+  Selector_Homing_Feedrate = 0x15,
+  Idler_Homing_Feedrate = 0x16,
+  Pulley_sg_thrs_R = 0x17,
+  Selector_sg_thrs_R = 0x18,
+  Idler_sg_thrs_R = 0x19,
+  Get_Pulley_Position = 0x1A,
+  Set_Get_Selector_Slot = 0x1B,
+  Set_Get_Idler_Slot = 0x1C,
+  Set_Get_Selector_Cut_iRun = 0x1D,
+  Set_Get_Pulley_iRun = 0x1E,
+  Set_Get_Selector_iRun = 0x1F,
+  Set_Get_Idler_iRun = 0x20,
+  Reserved = 0x21,
+};
+
+} // MMU3
@@ -0,0 +1,70 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * registers.h
+ */
+
+#include <stdint.h>
+
+namespace MMU3 {
+
+// Register map for MMU
+enum class Register : uint8_t {
+  Project_Major = 0x00,
+  Project_Minor = 0x01,
+  Project_Revision = 0x02,
+  Project_Build_Number = 0x03,
+  MMU_Errors = 0x04,
+  Current_Progress_Code = 0x05,
+  Current_Error_Code = 0x06,
+  Filament_State = 0x07,
+  FINDA_State = 0x08,
+  FSensor_State = 0x09,
+  Motor_Mode = 0x0A,
+  Extra_Load_Distance = 0x0B,
+  FSensor_Unload_Check_Distance = 0xC,
+  Pulley_Unload_Feedrate = 0x0D,
+  Pulley_Acceleration = 0x0E,
+  Selector_Acceleration = 0x0F,
+  Idler_Acceleration = 0x10,
+  Pulley_Load_Feedrate = 0x11,
+  Selector_Nominal_Feedrate = 0x12,
+  Idler_Nominal_Feedrate = 0x13,
+  Pulley_Slow_Feedrate = 0x14,
+  Selector_Homing_Feedrate = 0x15,
+  Idler_Homing_Feedrate = 0x16,
+  Pulley_sg_thrs_R = 0x17,
+  Selector_sg_thrs_R = 0x18,
+  Idler_sg_thrs_R = 0x19,
+  Get_Pulley_Position = 0x1A,
+  Set_Get_Selector_Slot = 0x1B,
+  Set_Get_Idler_Slot = 0x1C,
+  Set_Get_Selector_Cut_iRun = 0x1D,
+  Set_Get_Pulley_iRun = 0x1E,
+  Set_Get_Selector_iRun = 0x1F,
+  Set_Get_Idler_iRun = 0x20,
+  Reserved = 0x21,
+};
+
+} // MMU3
@@ -0,0 +1,203 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * sound.cpp
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_PRUSA_MMU3
+
+  //#include "backlight.h"
+  #include "../../libs/buzzer.h"
+  #include "sound.h"
+
+  // eSOUND_MODE eSoundMode=e_SOUND_MODE_LOUD;
+  // doesn't matter if Sound_Init is called (i.e. the value is in the EEPROM)
+  // !?! eSOUND_MODE eSoundMode; in ultraldc.cpp :: cd_settings_menu() it appears as a local variable like this
+  eSOUND_MODE eSoundMode; // =e_SOUND_MODE_DEFAULT;
+
+
+  static void Sound_SaveMode(void);
+  static void Sound_DoSound_Echo(void);
+  static void Sound_DoSound_Prompt(void);
+  static void Sound_DoSound_Alert(bool bOnce);
+  static void Sound_DoSound_Encoder_Move(void);
+  static void Sound_DoSound_Blind_Alert(void);
+
+  void Sound_Init(void) {
+    // SET_OUTPUT(BEEPER);
+    // eSoundMode = static_cast<eSOUND_MODE>(eeprom_init_default_byte((uint8_t*)EEPROM_SOUND_MODE, e_SOUND_MODE_DEFAULT));
+  }
+
+  void Sound_SaveMode(void) {
+    // eeprom_update_byte((uint8_t*)EEPROM_SOUND_MODE,(uint8_t)eSoundMode);
+  }
+
+  void Sound_CycleState(void) {
+    switch (eSoundMode) {
+      case e_SOUND_MODE_LOUD:   eSoundMode = e_SOUND_MODE_ONCE; break;
+      case e_SOUND_MODE_ONCE:   eSoundMode = e_SOUND_MODE_SILENT; break;
+      case e_SOUND_MODE_SILENT: eSoundMode = e_SOUND_MODE_BLIND; break;
+      case e_SOUND_MODE_BLIND:  eSoundMode = e_SOUND_MODE_LOUD; break;
+      default:                  eSoundMode = e_SOUND_MODE_LOUD;
+    }
+    Sound_SaveMode();
+  }
+
+  // if critical is true then silent and once mode is ignored
+  void __attribute__((noinline)) Sound_MakeCustom(uint16_t ms, uint16_t tone_, bool critical) {
+    if (critical || eSoundMode != e_SOUND_MODE_SILENT)
+      //if (!tone_) {
+      //  WRITE(BEEPER, HIGH);
+      //  _delay(ms);
+      //  WRITE(BEEPER, LOW);
+      //}
+      //else {
+      //  _tone(BEEPER, tone_);
+      //  _delay(ms);
+      //  _noTone(BEEPER);
+      //}
+      BUZZ(ms, tone_);
+  }
+
+  void Sound_MakeSound(eSOUND_TYPE eSoundType) {
+    switch (eSoundMode) {
+      case e_SOUND_MODE_LOUD:
+        if (eSoundType == e_SOUND_TYPE_ButtonEcho)
+          Sound_DoSound_Echo();
+        if (eSoundType == e_SOUND_TYPE_StandardPrompt)
+          Sound_DoSound_Prompt();
+        if (eSoundType == e_SOUND_TYPE_StandardAlert)
+          Sound_DoSound_Alert(false);
+        break;
+      case e_SOUND_MODE_ONCE:
+        if (eSoundType == e_SOUND_TYPE_ButtonEcho)
+          Sound_DoSound_Echo();
+        if (eSoundType == e_SOUND_TYPE_StandardPrompt)
+          Sound_DoSound_Prompt();
+        if (eSoundType == e_SOUND_TYPE_StandardAlert)
+          Sound_DoSound_Alert(true);
+        break;
+      case e_SOUND_MODE_SILENT:
+        if (eSoundType == e_SOUND_TYPE_StandardAlert)
+          Sound_DoSound_Alert(true);
+        break;
+      case e_SOUND_MODE_BLIND:
+        if (eSoundType == e_SOUND_TYPE_ButtonEcho)
+          Sound_DoSound_Echo();
+        if (eSoundType == e_SOUND_TYPE_StandardPrompt)
+          Sound_DoSound_Prompt();
+        if (eSoundType == e_SOUND_TYPE_StandardAlert)
+          Sound_DoSound_Alert(false);
+        if (eSoundType == e_SOUND_TYPE_EncoderMove)
+          Sound_DoSound_Encoder_Move();
+        if (eSoundType == e_SOUND_TYPE_BlindAlert)
+          Sound_DoSound_Blind_Alert();
+        break;
+      default:
+        break;
+    }
+  }
+
+  static void Sound_DoSound_Blind_Alert(void) {
+    // backlight_wake(1);
+    uint8_t nI;
+    for (nI = 0; nI < 20; nI++) {
+      BUZZ(94, 404);
+      BUZZ(94, 0);
+    }
+  }
+
+  static void Sound_DoSound_Encoder_Move(void) {
+    uint8_t nI;
+    for (nI = 0; nI < 5; nI++) {
+      BUZZ(75, 404);
+      BUZZ(75, 0);
+    }
+  }
+
+  static void Sound_DoSound_Echo(void) {
+    uint8_t nI;
+    for (nI = 0; nI < 10; nI++) {
+      BUZZ(100, 404);
+      BUZZ(100, 0);
+    }
+  }
+
+  static void Sound_DoSound_Prompt(void) {
+    // backlight_wake(2);
+    BUZZ(500, 404);
+  }
+
+  static void Sound_DoSound_Alert(bool bOnce) {
+    uint8_t nI, nMax;
+    nMax = bOnce ? 1 : 3;
+    for (nI = 0; nI < nMax; nI++) {
+      BUZZ(200, 404);
+      BUZZ(500, 0);
+    }
+  }
+
+  static int16_t constexpr CONTINOUS_BEEP_PERIOD = 2000; // in ms
+  // static ShortTimer beep_timer; // Timer to keep track of continous beeping
+  static bool bFirst; // true if the first beep has occurred, e_SOUND_MODE_ONCE
+
+  // @brief Handles sound when waiting for user input
+  // the function must be non-blocking. It is up to the caller
+  // to call this function repeatedly.
+  // Make sure to call sound_wait_for_user_reset() when the user has clicked the knob
+  //     Loud - should continuously beep
+  //     Silent - should be silent
+  //     Once - should beep once
+  //     Assist/Blind - as loud with beep and click on knob rotation and press
+  void sound_wait_for_user() {
+    #if BEEPER > 0
+      if (eSoundMode == e_SOUND_MODE_SILENT) return;
+
+      // Handle case where only one beep is needed
+      if (eSoundMode == e_SOUND_MODE_ONCE) {
+        if (bFirst) return;
+        Sound_MakeCustom(80, 0, false);
+        bFirst = true;
+      }
+
+      // Handle case where there should be continous beeps
+      if (beep_timer.expired_cont(CONTINOUS_BEEP_PERIOD)) {
+        beep_timer.start();
+        if (eSoundMode == e_SOUND_MODE_LOUD)
+          Sound_MakeCustom(80, 0, false);
+        else
+          // Assist (lower volume sound)
+          Sound_MakeSound(e_SOUND_TYPE_ButtonEcho);
+      }
+    #endif // BEEPER > 0
+  }
+
+  // @brief Resets the global state of sound_wait_for_user()
+  void sound_wait_for_user_reset() {
+    // beep_timer.stop();
+    bFirst = false;
+  }
+
+#endif // HAS_PRUSA_MMU3
@@ -0,0 +1,69 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * sound.h
+ */
+
+#include <stdint.h>
+
+#define e_SOUND_MODE_NULL 0xFF
+typedef enum : uint8_t {
+  e_SOUND_MODE_LOUD,
+  e_SOUND_MODE_ONCE,
+  e_SOUND_MODE_SILENT,
+  e_SOUND_MODE_BLIND
+} eSOUND_MODE;
+
+#define e_SOUND_MODE_DEFAULT e_SOUND_MODE_LOUD
+
+typedef enum : uint8_t {
+  e_SOUND_TYPE_ButtonEcho,
+  e_SOUND_TYPE_EncoderEcho,
+  e_SOUND_TYPE_StandardPrompt,
+  e_SOUND_TYPE_StandardConfirm,
+  e_SOUND_TYPE_StandardWarning,
+  e_SOUND_TYPE_StandardAlert,
+  e_SOUND_TYPE_EncoderMove,
+  e_SOUND_TYPE_BlindAlert
+} eSOUND_TYPE;
+
+typedef enum : uint8_t {
+  e_SOUND_CLASS_Echo,
+  e_SOUND_CLASS_Prompt,
+  e_SOUND_CLASS_Confirm,
+  e_SOUND_CLASS_Warning,
+  e_SOUND_CLASS_Alert
+} eSOUND_CLASS;
+
+extern eSOUND_MODE eSoundMode;
+
+extern void Sound_Init(void);
+extern void Sound_CycleState(void);
+extern void Sound_MakeSound(eSOUND_TYPE eSoundType);
+extern void Sound_MakeCustom(uint16_t ms, uint16_t tone_, bool critical);
+void sound_wait_for_user();
+void sound_wait_for_user_reset();
+
+//static void Sound_DoSound_Echo(void);
+//static void Sound_DoSound_Prompt(void);
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * strlen_cx.h
+ */
+
+constexpr inline int strlen_constexpr(const char *str) {
+  return *str ? 1 + strlen_constexpr(str + 1) : 0;
+}
@@ -0,0 +1,217 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * ultralcd.cpp
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_PRUSA_MMU3
+
+#include "mmu2.h"
+#include "mmu2_marlin_macros.h"
+#include "mmu_hw/errors_list.h"
+#include "ultralcd.h"
+
+#include "../../lcd/menu/menu_item.h"
+#include "../../gcode/gcode.h"
+#include "../../lcd/marlinui.h"
+
+  //! @brief Show a two-choice prompt on the last line of the LCD
+  //! @param selected Show first choice as selected if true, the second otherwise
+  //! @param first_choice text caption of first possible choice
+  //! @param second_choice text caption of second possible choice
+  //! @param second_col column on LCD where second choice is rendered.
+  //! @param third_choice text caption of third, optional, choice.
+  void lcd_show_choices_prompt_P(uint8_t selected, const char *first_choice, const char *second_choice, uint8_t second_col, const char *third_choice) {
+    lcd_put_lchar(0, 3, selected == LCD_LEFT_BUTTON_CHOICE ? '>' : ' ');
+    lcd_put_u8str(first_choice);
+    lcd_put_lchar(second_col, 3, selected == LCD_MIDDLE_BUTTON_CHOICE ? '>' : ' ');
+    lcd_put_u8str(second_choice);
+    if (third_choice) {
+      lcd_put_lchar(18, 3, selected == LCD_RIGHT_BUTTON_CHOICE ? '>' : ' ');
+      lcd_put_u8str(third_choice);
+    }
+  }
+
+  void lcd_space(uint8_t n) {
+    while (n--) lcd_put_lchar(' ');
+  }
+
+  // Print extruder status (5 chars total)
+  // Scenario 1: "F?"
+  //              There is no filament loaded and no tool change is in progress
+  // Scenario 2: "F[nr.]"
+  //              [nr.] ranges from 1 to 5.
+  //              Shows which filament is loaded. No tool change is in progress
+  // Scenario 3: "?>[nr.]"
+  //              [nr.] ranges from 1 to 5.
+  //              There is no filament currently loaded, but [nr.] is currently being loaded via tool change
+  // Scenario 4: "[nr.]>?"
+  //              [nr.] ranges from 1 to 5.
+  //              This scenario indicates a bug in the firmware if ? is on the right side
+  // Scenario 5: "[nr1.]>[nr2.]"
+  //              [nr1.] ranges from 1 to 5.
+  //              [nr2.] ranges from 1 to 5.
+  //              Filament [nr1.] was loaded, but [nr2.] is currently being loaded via tool change
+  // Scenario 6: "?>?"
+  //              This scenario should not be possible and indicates a bug in the firmware
+  uint8_t lcdui_print_extruder(void) {
+    uint8_t chars = 1;
+    lcd_space(1);
+    if (mmu3.get_current_tool() == mmu3.get_tool_change_tool()) {
+      lcd_put_lchar('F');
+      lcd_put_lchar(mmu3.get_current_tool() == (uint8_t)MMU3::FILAMENT_UNKNOWN ? '?' : mmu3.get_current_tool() + '1');
+      chars += 2;
+    }
+    else {
+      lcd_put_lchar(mmu3.get_current_tool() == (uint8_t)MMU3::FILAMENT_UNKNOWN ? '?' : mmu3.get_current_tool() + '1');
+      lcd_put_lchar('>');
+      lcd_put_lchar(mmu3.get_tool_change_tool() == (uint8_t)MMU3::FILAMENT_UNKNOWN ? '?' : mmu3.get_tool_change_tool() + '1');
+      chars += 3;
+    }
+    return chars;
+  }
+
+  bool pgm_is_whitespace(const char *c_addr) {
+    const char c = pgm_read_byte(c_addr);
+    return c == ' ' || c == '\t' || c == '\r' || c == '\n';
+  }
+
+  bool pgm_is_interpunction(const char *c_addr) {
+    const char c = pgm_read_byte(c_addr);
+    return c == '.' || c == ',' || c == ':' || c == ';' || c == '?' || c == '!' || c == '/';
+  }
+
+  /**
+   * @brief show full screen message
+   *
+   * This function is non-blocking
+   * @param msg message to be displayed from PROGMEM
+   * @return rest of the text (to be displayed on next page)
+   */
+  static FSTR_P const lcd_display_message_fullscreen_nonBlocking(FSTR_P const fmsg) {
+    PGM_P msg = FTOP(fmsg);
+    PGM_P msgend = msg;
+    //bool multi_screen = false;
+    for (uint8_t row = 0; row < LCD_HEIGHT; ++row) {
+      if (pgm_read_byte(msgend) == 0) break;
+      SETCURSOR(0, row);
+
+      // Previous row ended with a complete word, so the first character in the
+      // next row is a whitespace. We can skip the whitespace on a new line.
+      if (pgm_is_whitespace(msg) && ++msg == nullptr) break; // End of the message.
+
+      uint8_t linelen = (strlen_P(msg) > LCD_WIDTH) ? LCD_WIDTH : strlen_P(msg);
+      PGM_P const msgend2 = msg + linelen;
+      msgend = msgend2;
+      if (row == 3 && linelen == LCD_WIDTH) {
+        // Last line of the display, full line should be displayed.
+        // Find out, whether this message will be split into multiple screens.
+        //multi_screen = pgm_read_byte(msgend) != 0;
+        // We do not need this...
+        //if (multi_screen) msgend = (msgend2 -= 2);
+      }
+      if (pgm_read_byte(msgend) != 0 && !pgm_is_whitespace(msgend) && !pgm_is_interpunction(msgend)) {
+        // Splitting a word. Find the start of the current word.
+        while (msgend > msg && !pgm_is_whitespace(msgend - 1)) --msgend;
+        if (msgend == msg) msgend = msgend2; // Found a single long word, which cannot be split. Just cut it.
+      }
+      for (; msg < msgend; ++msg) {
+        const char c = char(pgm_read_byte(msg));
+        if (c == '\n') {
+          // Abort early if '\n' is encountered.
+          // This character is used to force the following words to be printed on the next line.
+          break;
+        }
+        lcd_put_lchar(c);
+      }
+    }
+    // We do not need this part...
+    //if (multi_screen) {
+    //  // Display the double down arrow.
+    //  lcd_put_lchar(LCD_WIDTH - 2, LCD_HEIGHT - 2, LCD_STR_ARROW_2_DOWN[0]);
+    //}
+    //return multi_screen ? msgend : nullptr;
+    return FPSTR(msgend);
+  }
+
+  FSTR_P const lcd_display_message_fullscreen(FSTR_P const fmsg) {
+    // Disable update of the screen by the usual lcd_update(0) routine.
+    #if HAS_WIRED_LCD
+      //ui.lcdDrawUpdate = LCDViewAction::LCDVIEW_NONE;
+      ui.clear_lcd();
+      return lcd_display_message_fullscreen_nonBlocking(fmsg);
+    #else
+      return fmsg
+    #endif
+  }
+
+  /**
+   * @brief show full screen message and wait
+   *
+   * This function is blocking.
+   * @param msg message to be displayed from PROGMEM
+   */
+  void lcd_show_fullscreen_message_and_wait(FSTR_P const fmsg) {
+    LcdUpdateDisabler lcdUpdateDisabler;
+    FSTR_P fmsg_next = lcd_display_message_fullscreen(fmsg);
+    const bool multi_screen = fmsg_next != nullptr;
+    ui.use_click();
+    KEEPALIVE_STATE(PAUSED_FOR_USER);
+    // Until confirmed by a button click.
+    for (;;) {
+      if (fmsg_next == nullptr) {
+        // Display the confirm char.
+        //lcd_put_lchar(LCD_WIDTH - 2, LCD_HEIGHT - 2, LCD_STR_CONFIRM[0]);
+      }
+      // Wait for 5 seconds before displaying the next text.
+      for (uint8_t i = 0; i < 100; ++i) {
+        idle(true);
+        safe_delay(50);
+        if (ui.use_click()) {
+          if (fmsg_next == nullptr) {
+            KEEPALIVE_STATE(IN_HANDLER);
+            return ui.go_back();
+          }
+          if (!multi_screen) break;
+          if (fmsg_next == nullptr) fmsg_next = fmsg;
+          fmsg_next = lcd_display_message_fullscreen(fmsg_next);
+        }
+      }
+      //if (multi_screen) {
+      //  if (fmsg_next == nullptr) fmsg_next = fmsg;
+      //  fmsg_next = lcd_display_message_fullscreen(fmsg_next);
+      //}
+    }
+  }
+
+  void lcd_insert_char_into_status(uint8_t position, const char message) {
+    if (position >= LCD_WIDTH) return;
+    //int size = ui.status_message.length();
+    char *str = ui.status_message.buffer();
+    str[position] = message;
+    ui.refresh(LCDVIEW_REDRAW_NOW); // force redraw
+  }
+
+#endif // HAS_PRUSA_MMU3
@@ -0,0 +1,72 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * ultralcd.h
+ */
+
+#include "../../MarlinCore.h"
+#include "../../lcd/marlinui.h"
+
+#define LCD_LEFT_BUTTON_CHOICE 0
+#define LCD_MIDDLE_BUTTON_CHOICE 1
+#define LCD_RIGHT_BUTTON_CHOICE 2
+
+#define LCD_STR_ARROW_2_DOWN "\x88"
+#define LCD_STR_CONFIRM      "\x89"
+#define LCD_STR_SOLID_BLOCK  "\xFF" // from the default character set
+
+/**
+ * @brief Helper class to temporarily disable LCD updates
+ *
+ * When constructed (on stack), original state state of lcd_update_enabled is stored
+ * and LCD updates are disabled.
+ * When destroyed (gone out of scope), original state of LCD update is restored.
+ * It has zero overhead compared to storing bool saved = lcd_update_enabled
+ * and calling lcd_update_enable(false) and lcd_update_enable(saved).
+ */
+class LcdUpdateDisabler {
+  public:
+    LcdUpdateDisabler() : m_updateEnabled(ui.lcdDrawUpdate) {
+      TERN_(HAS_WIRED_LCD, ui.lcdDrawUpdate = LCDViewAction::LCDVIEW_NONE);
+    }
+    ~LcdUpdateDisabler() {
+      #if HAS_WIRED_LCD
+        ui.lcdDrawUpdate = m_updateEnabled;
+        ui.clear_lcd();
+        ui.update();
+      #endif
+    }
+
+  private:
+    LCDViewAction m_updateEnabled;
+};
+
+bool pgm_is_whitespace(const char *c_addr);
+bool pgm_is_interpunction(const char *c_addr);
+FSTR_P const lcd_display_message_fullscreen(FSTR_P const pmsg);
+void lcd_show_choices_prompt_P(uint8_t selected, const char *first_choice, const char *second_choice, uint8_t second_col, const char *third_choice=nullptr);
+void lcd_show_fullscreen_message_and_wait(FSTR_P const fmsg);
+uint8_t lcdui_print_extruder(void);
+void lcd_space(uint8_t n);
+void lcd_insert_char_into_status(uint8_t position, const char message);
@@ -611,9 +611,27 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep
 * - Send host action for resume, if configured
 * - Resume the current SD print job, if any
 */
-void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_length/*=0*/, const_float_t purge_length/*=ADVANCED_PAUSE_PURGE_LENGTH*/, const int8_t max_beep_count/*=0*/, const celsius_t targetTemp/*=0*/ DXC_ARGS) {
+void resume_print(
+  const_float_t   slow_load_length/*=0*/,
+  const_float_t   fast_load_length/*=0*/,
+  const_float_t   purge_length/*=ADVANCED_PAUSE_PURGE_LENGTH*/,
+  const int8_t    max_beep_count/*=0*/,
+  const celsius_t targetTemp/*=0*/,
+  const bool      show_lcd/*=true*/,
+  const bool      pause_for_user/*=false*/
+  DXC_ARGS
+) {
  DEBUG_SECTION(rp, "resume_print", true);
-  DEBUG_ECHOLNPGM("... slowlen:", slow_load_length, " fastlen:", fast_load_length, " purgelen:", purge_length, " maxbeep:", max_beep_count, " targetTemp:", targetTemp DXC_SAY);
+  DEBUG_ECHOLNPGM(
+      "... slowlen:", slow_load_length
+    , " fastlen:", fast_load_length
+    , " purgelen:", purge_length
+    , " maxbeep:", max_beep_count
+    , " targetTemp:", targetTemp
+    , " show_lcd:", show_lcd
+    , " pause_for_user:", pause_for_user
+    DXC_SAY
+  );

  /*
  SERIAL_ECHOLNPGM(
@@ -627,7 +645,7 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_
  if (!did_pause_print) return;

  // Re-enable the heaters if they timed out
-  bool nozzle_timed_out = false;
+  bool nozzle_timed_out = pause_for_user;
  HOTEND_LOOP() {
    nozzle_timed_out |= thermalManager.heater_idle[e].timed_out;
    thermalManager.reset_hotend_idle_timer(e);
@@ -637,7 +655,7 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_
    thermalManager.setTargetHotend(targetTemp, active_extruder);

  // Load the new filament
-  load_filament(slow_load_length, fast_load_length, purge_length, max_beep_count, true, nozzle_timed_out, PAUSE_MODE_SAME DXC_PASS);
+  load_filament(slow_load_length, fast_load_length, purge_length, max_beep_count, show_lcd, nozzle_timed_out, PAUSE_MODE_SAME DXC_PASS);

  if (targetTemp > 0) {
    thermalManager.setTargetHotend(targetTemp, active_extruder);
@@ -109,7 +109,9 @@ void resume_print(
  const_float_t   fast_load_length=0,                         // (mm) Fast Load Length for initial move
  const_float_t   purge_length=ADVANCED_PAUSE_PURGE_LENGTH,   // (mm) Purge length
  const int8_t    max_beep_count=0,                           // Beep alert for attention
-  const celsius_t targetTemp=0                                // (°C) A target temperature for the hotend
+  const celsius_t targetTemp=0,                               // (°C) A target temperature for the hotend
+  const bool      show_lcd=true,                              // Set LCD status messages?
+  const bool      pause_for_user=false                        // Pause for user before returning?
  DXC_PARAMS                                                  // Dual-X-Carriage extruder index
 );

@@ -35,8 +35,12 @@
 // Inline laser power
 #include "../module/planner.h"

+#define RPM_TO_PWM(X) ((X) * 255 / (SPEED_POWER_MAX))
+#define PWM_TO_RPM(X) ((X) * (SPEED_POWER_MAX) / 255)
 #define PCT_TO_PWM(X) ((X) * 255 / 100)
+#define PWM_TO_PCT(X) ((X) * 100 / 255)
 #define PCT_TO_SERVO(X) ((X) * 180 / 100)
+#define CUTTER_PWM_TO_SPWR(X) (CUTTER_UNIT_IS(PERCENT) ? PWM_TO_PCT(X) : (CUTTER_UNIT_IS(RPM) ? PWM_TO_RPM(X) : X))

 // Laser/Cutter operation mode
 enum CutterMode : int8_t {
@@ -942,7 +942,7 @@
   * M122 report functions
   */

-  void tmc_report_all(LOGICAL_AXIS_ARGS(const bool)) {
+  void tmc_report_all(LOGICAL_AXIS_ARGS_LC(const bool)) {
    #define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM OPTARGS_LOGICAL()); }while(0)
    #define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM OPTARGS_LOGICAL()); }while(0)

@@ -1152,7 +1152,7 @@
    SERIAL_EOL();
  }

-  void tmc_get_registers(LOGICAL_AXIS_ARGS(bool)) {
+  void tmc_get_registers(LOGICAL_AXIS_ARGS_LC(bool)) {
    #define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM OPTARGS_LOGICAL()); }while(0)
    #define TMC_GET_REG(NAME, TABS) _TMC_GET_REG(STRINGIFY(NAME) TABS, TMC_GET_##NAME)
    _TMC_GET_REG("\t", TMC_AXIS_CODES);
@@ -1232,7 +1232,7 @@ static bool test_connection(TMC &st) {
  return test_result;
 }

-void test_tmc_connection(LOGICAL_AXIS_ARGS(const bool)) {
+void test_tmc_connection(LOGICAL_AXIS_ARGS_LC(const bool)) {
  uint8_t axis_connection = 0;

  if (TERN0(HAS_X_AXIS, x)) {
@@ -320,14 +320,14 @@ class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC266
 };

 void monitor_tmc_drivers();
-void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true));
+void test_tmc_connection(LOGICAL_AXIS_DECL_LC(const bool, true));

 #if ENABLED(TMC_DEBUG)
  #if ENABLED(MONITOR_DRIVER_STATUS)
    void tmc_set_report_interval(const uint16_t update_interval);
  #endif
-  void tmc_report_all(LOGICAL_AXIS_DECL(const bool, true));
-  void tmc_get_registers(LOGICAL_AXIS_ARGS(const bool));
+  void tmc_report_all(LOGICAL_AXIS_DECL_LC(const bool, true));
+  void tmc_get_registers(LOGICAL_AXIS_ARGS_LC(const bool));
 #endif

 /**
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Scott Lahteine	0edde09d7f	etc	2024-09-10 03:13:43 -05:00
Scott Lahteine	3124474c95	comment	2024-09-10 03:11:53 -05:00
InsanityAutomation	09acb61496	Optomize G425 to compute Primary Axis before probing remainders	2024-08-29 16:36:27 -04:00
Scott Lahteine	8ac0f14796	🪠 More granular sub-options undef (#27373 )	2024-08-28 20:41:12 -05:00
thinkyhead	934fc52d06	[cron] Bump distribution date (2024-08-29)	2024-08-29 00:25:00 +00:00
Scott Lahteine	cf46d1880c	🚸 Purge PLR on power-off (2)	2024-08-28 15:46:53 -05:00
thinkyhead	4f159a94cd	[cron] Bump distribution date (2024-08-28)	2024-08-28 06:08:14 +00:00
Scott Lahteine	b53e14c7f8	🧑‍💻 Guard queue advance_r	2024-08-28 00:42:25 -05:00
Scott Lahteine	94e9f26544	🚸 Purge PLR on power-off	2024-08-28 00:42:25 -05:00
thinkyhead	9e87af70b7	[cron] Bump distribution date (2024-08-27)	2024-08-27 00:24:38 +00:00
Scott Lahteine	fe56f5d3a6	🧑‍💻 Improve build_example	2024-08-26 16:11:47 -05:00
Scott Lahteine	90e5826256	🔧 No "base" needed for minimal config	2024-08-26 16:11:13 -05:00
Scott Lahteine	bb73c335a5	🩹 Fix Ender-3 S1 Plus build	2024-08-26 16:11:13 -05:00
Scott Lahteine	4c1f76567c	🧑‍💻 build_all_examples --base --archive	2024-08-26 10:50:13 -05:00
Scott Lahteine	d193c814d3	🩹 Fix misc warnings	2024-08-26 10:50:13 -05:00
narno2202	2cb252da4a	🩹 Fix FT_MOTION compile (#27367 )	2024-08-25 23:20:11 -05:00
thinkyhead	9a04c32f7f	[cron] Bump distribution date (2024-08-26)	2024-08-26 00:24:58 +00:00
Scott Lahteine	3b8e9fdd25	🔧 Reduce / update base configs	2024-08-25 00:16:04 -05:00
Scott Lahteine	e0b045da49	🧑‍💻 Enhance build example scripts	2024-08-24 20:03:12 -05:00
thinkyhead	4220491a23	[cron] Bump distribution date (2024-08-25)	2024-08-25 00:26:53 +00:00
narno2202	3abe1fcf20	🔧🚸 FT_MOTION adjustments (#27359 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-08-23 23:58:31 -05:00
marbocub	02ed020f3f	🩹 Fix shaping init (#27365 )	2024-08-23 23:45:46 -05:00
Scott Lahteine	934ac24ad8	🐛 FT Motion time-based endstop (#27349 ) Co-authored-by: ulendoalex <111143418+ulendoalex@users.noreply.github.com>	2024-08-23 23:42:02 -05:00
Scott Lahteine	e2d8b2fc26	🚸 Prefer probe XY feedrate for "blocking move" Reverting part of `89b0143b`	2024-08-23 23:32:14 -05:00
thinkyhead	3e8483d389	[cron] Bump distribution date (2024-08-24)	2024-08-24 00:23:23 +00:00
Erkan Ozgur Yilmaz	a9c529f004	✨ Prusa MMU3 (#26635 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-08-23 18:33:13 -05:00
Keith Bennett	a664587219	🩹 Fix Sensorless Homing Current Warning (#27366 )	2024-08-23 17:25:09 -05:00
thinkyhead	1619838592	[cron] Bump distribution date (2024-08-23)	2024-08-23 00:24:05 +00:00
Lubomir Rintel	98a33d37c7	🩹 Fix MINITRONICS v1 pins (#27150 )	2024-08-22 11:01:42 -05:00
thinkyhead	12a2e5ae1b	[cron] Bump distribution date (2024-08-22)	2024-08-22 00:24:06 +00:00
Scott Lahteine	9b472a02e9	✨ PROBE_TARE_MENU	2024-08-21 18:36:49 -05:00
Scott Lahteine	c84bea7110	🚸 LED Default may toggle On	2024-08-21 18:36:49 -05:00
ellensp	20f71fafa7	🧑‍💻 Use sim env for BOARD_SIMULATED in `mftest` (#27299 )	2024-08-21 18:33:58 -05:00
ellensp	056e5a430e	🔧 Azteeg X3 Pro doesn't need DIGIPOTS_I2C_SDA_* (#27337 )	2024-08-21 18:25:25 -05:00
Scott Lahteine	21a604407d	🚸 Move solo Case Light menu up	2024-08-21 17:46:27 -05:00
thinkyhead	deb076b9cd	[cron] Bump distribution date (2024-08-21)	2024-08-21 00:23:53 +00:00
Scott Lahteine	b8e2ad9d8f	👷 resume_print params for timeout, filament load Co-Authored-By: Erkan Ozgur Yilmaz <1786804+eoyilmaz@users.noreply.github.com>	2024-08-20 16:38:10 -05:00
Scott Lahteine	0cd9643957	🎨 Misc. cleanup (from MMU3 PR) Co-Authored-By: Erkan Ozgur Yilmaz <1786804+eoyilmaz@users.noreply.github.com>	2024-08-20 16:38:10 -05:00
thinkyhead	8c78315f71	[cron] Bump distribution date (2024-08-20)	2024-08-20 00:24:02 +00:00
Scott Lahteine	35dad3fdfe	📝 BIQU MicroProbe followup	2024-08-19 15:00:15 -05:00
Scott Lahteine	bebf5dc6ab	✨ GENERIC_BACK_MENU_ITEM	2024-08-19 14:50:26 -05:00
Scott Lahteine	2fd1c48e1a	👷 Prefer has_blocks_queued over movesplanned	2024-08-19 14:50:23 -05:00
thinkyhead	301727defc	[cron] Bump distribution date (2024-08-18)	2024-08-18 00:26:18 +00:00
Scott Lahteine	1afd53a933	🔨 Suppress some Maple warnings	2024-08-17 18:02:23 -05:00
narno2202	381aeb94c6	🩹 Fix FT Motion toggle in active job (#27335 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-08-17 13:02:05 -05:00
thinkyhead	4a36520820	[cron] Bump distribution date (2024-08-17)	2024-08-17 00:23:13 +00:00
Scott Lahteine	430eedf5c0	👷 Optional IJKUVW endstops	2024-08-16 14:35:29 -05:00
Scott Lahteine	793a851d10	👷 !ELAPSED => PENDING	2024-08-16 14:34:05 -05:00
Scott Lahteine	2d609487ac	👷 FT Motion refactor, minor fix	2024-08-16 14:33:38 -05:00
Scott Lahteine	295f50379f	👷 Add UC elements to axis types	2024-08-16 14:31:51 -05:00
Scott Lahteine	ecfff5099a	🎨 Misc. format, cleanup	2024-08-16 00:18:33 -05:00
Scott Lahteine	986344640f	✨🔧 Minimal configuration with Config.h (#27338 )	2024-08-15 23:08:26 -05:00
thinkyhead	69f69606e6	[cron] Bump distribution date (2024-08-16)	2024-08-16 00:23:58 +00:00
sargonphin	2aa2e5487a	⚡️ Improve Homing / Probing Current (#26714 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-08-15 18:30:55 -05:00
John Robertson	23d9020a65	✨ M3 / M4 O for laser/spindle (#26883 )	2024-08-15 16:09:41 -05:00
Scott Lahteine	43d9d1ce1b	🩹 Config-related preparations (2)	2024-08-15 15:37:30 -05:00
thinkyhead	ed7f3b21c0	[cron] Bump distribution date (2024-08-13)	2024-08-13 00:33:32 +00:00
Scott Lahteine	b062a3b226	🎨 FT Motion, axis cleanup	2024-08-12 17:48:41 -05:00
Scott Lahteine	89b0143b09	🔧 Config-related preparations	2024-08-11 20:35:23 -05:00
Scott Lahteine	0790a9d5df	🔧 Fix some LCD probing margins	2024-08-11 20:35:23 -05:00
Scott Lahteine	e05ac66561	🔧 Fix extra endstop auto-assignment	2024-08-11 20:35:23 -05:00
Scott Lahteine	3b33f7ec03	🔨 Build script improvements	2024-08-11 20:35:23 -05:00
Scott Lahteine	b94c75bcda	🎨 ProUI / MKS UI code cleanup	2024-08-11 20:35:23 -05:00
Scott Lahteine	8dc8906d78	🎨 Conditional probe.h	2024-08-11 20:35:23 -05:00
Keith Bennett	ab684dc484	📝 New Discord link (#27330 )	2024-08-11 20:02:00 -05:00
Scott Lahteine	37fb26b557	🩹 Fix W axis blocking move Fixes #27332 Co-Authored-By: thebjtfellow <110046297+thebjtfellow@users.noreply.github.com> Co-Authored-By: DerAndere <26200979+DerAndere1@users.noreply.github.com>	2024-08-11 20:00:54 -05:00
thinkyhead	7397e5a41d	[cron] Bump distribution date (2024-08-12)	2024-08-12 00:25:11 +00:00
Keith Bennett	4a9d380117	🩹 Fix MKS Gen-L V1 PWM pins (#26974 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-08-11 15:45:37 -05:00
thinkyhead	0ec1a54309	[cron] Bump distribution date (2024-08-07)	2024-08-07 00:24:00 +00:00
Bkahl	ab6e68c312	🎨 Improve LulzBot FTDI Eve Touch UI (#27275 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-08-06 14:52:17 -05:00
thinkyhead	c509603530	[cron] Bump distribution date (2024-08-06)	2024-08-06 00:23:52 +00:00
narno2202	e5ce65c32b	🔧 BIQU MicroProbe + FT_MOTION sanity-check (#27302 )	2024-08-05 17:54:18 -05:00
tombrazier	851257c44b	🐛 Fix MPC differential tuning (#27274 )	2024-08-05 17:44:15 -05:00
thinkyhead	1662e953fc	[cron] Bump distribution date (2024-07-30)	2024-07-30 00:23:59 +00:00
Scott Lahteine	dde89795c9	🔨 Rename "BTT" things, MCU-based SKR 2 (#27319 ) Co-authored-by: Keith Bennett <13375512+thisiskeithb@users.noreply.github.com>	2024-07-29 13:25:17 -05:00
thinkyhead	6e69ff93ef	[cron] Bump distribution date (2024-07-29)	2024-07-29 18:06:59 +00:00
Keith Bennett	01b7d6c413	⏪️ Hold BTT renaming for later (#27307 ) This reverts #27301	2024-07-29 11:25:31 -05:00
Andrew	58398832a1	📝 Tweak G26 O description (#27310 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-07-29 10:59:12 -05:00
dmitrygribenchuk	29469a0615	🎨 Python style tweaks (#27312 )	2024-07-29 10:41:50 -05:00
Andrew	b4dd20c0eb	🔨 Use Adafruit NeoPixel 1.12.3 (#27314 )	2024-07-29 10:39:21 -05:00
thinkyhead	eab13752dd	[cron] Bump distribution date (2024-07-27)	2024-07-27 00:23:08 +00:00
Scott Lahteine	ad60cdd030	🚸 G42 P as flag (not bool)	2024-07-26 02:40:35 -05:00
Evan Felix	78e111a4d0	🚸 Implement G60 / G61 to spec (#27281 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-07-26 00:13:52 -05:00
thinkyhead	5558729562	[cron] Bump distribution date (2024-07-26)	2024-07-26 00:23:28 +00:00
Scott Lahteine	2d32f7c377	👷 Smarter Flags<N> templates (#27309 )	2024-07-25 15:36:20 -05:00
thinkyhead	bcbdac6f6c	[cron] Bump distribution date (2024-07-25)	2024-07-25 00:23:35 +00:00
Scott Lahteine	acc8bf1c79	👷 Use char in binary send	2024-07-24 03:04:29 -05:00
Scott Lahteine	4f107e9fee	🔨 Suggest gcc14 for macOS Sim	2024-07-24 02:25:56 -05:00
Scott Lahteine	7844f3fa4f	🔨 Use -g2 for macOS Sim build to fix warnings	2024-07-24 01:02:31 -05:00
Keith Bennett	2f3af438ee	🔨 Rename BTT SKR V2.0 PIO envs (#27301 )	2024-07-23 21:19:18 -05:00
thinkyhead	4483aa5b45	[cron] Bump distribution date (2024-07-24)	2024-07-24 00:24:31 +00:00
Scott Lahteine	20e6b6315e	📝 Config section reorganization	2024-07-23 17:59:14 -05:00
ellensp	ca4248bdd5	🚸 Optional thermistors in Info Menu (#27303 )	2024-07-23 16:47:22 -05:00
Scott Lahteine	4a5d8ba87e	👷 Local URL checking script (#26975 )	2024-07-23 15:41:29 -05:00
Scott Lahteine	7a5d849857	🔨 No CONFIG_EXAMPLES_DIR in config signature	2024-07-23 15:18:06 -05:00
thinkyhead	95c23e55a4	[cron] Bump distribution date (2024-07-23)	2024-07-23 00:23:49 +00:00
Andrew	94ce0d24d6	👷 Add optimal `stepper.set_e_position()` (#27293 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-07-22 15:33:37 -05:00
Scott Lahteine	cdea1b8460	👷 ATOMIC_SECTION macros	2024-07-22 14:54:17 -05:00
thinkyhead	cc122bec82	[cron] Bump distribution date (2024-07-22)	2024-07-22 06:07:44 +00:00
Keith Bennett	6afaf0034c	🔧 Assert EDGE_STEPPING with TMC drivers (#27292 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-07-21 20:53:51 -05:00
thinkyhead	7f0d7e760b	[cron] Bump distribution date (2024-07-20)	2024-07-20 12:07:55 +00:00
Keith Bennett	69004322f6	👷 Add Simulator CI test (#27288 )	2024-07-20 01:47:23 -05:00
thinkyhead	7441094a41	[cron] Bump distribution date (2024-07-19)	2024-07-19 00:24:14 +00:00
Chris	29a5006df9	🧑‍💻 Update HC32 CRITICAL_SECTION macros (#27283 ) Fixes #27282	2024-07-17 21:03:35 -05:00
thinkyhead	1aca038daf	[cron] Bump distribution date (2024-07-18)	2024-07-18 00:23:29 +00:00
ellensp	ce92eb46ec	🔧 Prevent LCD_PINS_EN false pin conflict (#27284 )	2024-07-17 18:07:06 -05:00
ellensp	c852e9c6a1	🔨 Fix preflight checks order (#27285 ) Followup to #27249	2024-07-17 18:01:10 -05:00
ellensp	2b8db0c2e2	🎨 fix endif comment (#27286 )	2024-07-17 17:58:55 -05:00
Scott Lahteine	74f297c871	🚸 FT Motion tune menu (#27279 ) Co-authored-by: narno2202 <130909513+narno2202@users.noreply.github.com>	2024-07-17 12:05:53 -05:00
thinkyhead	76411392b7	[cron] Bump distribution date (2024-07-17)	2024-07-17 00:23:52 +00:00
Keith Bennett	74c81117c3	🔨 MarlinSimUI updates (#27276 )	2024-07-16 14:31:42 -05:00
thinkyhead	6f04d8dc77	[cron] Bump distribution date (2024-07-16)	2024-07-16 00:23:45 +00:00
Scott Lahteine	ade05c045e	🚸 Revert FT Motion tune menu	2024-07-15 15:28:03 -05:00
ellensp	5140726c70	🩹 Fix _MAX type warning (#27272 )	2024-07-15 14:01:32 -05:00
Scott Lahteine	5334a8f0ed	🚸 Fix UI behavior for G29 with retry (#27146 )	2024-07-15 13:59:19 -05:00
Mihai	ee99eed3bf	🚸 Improved menu responsiveness with MarlinUI + U8Glib. (#26555 ) Co-authored-by: Jason Smith <jason.inet@gmail.com> Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-07-15 13:57:25 -05:00
narno2202	9a5f1d2f51	🚸 FT Motion: Linear Advance adjustments (#26785 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-07-15 13:30:42 -05:00
narno2202	170df9040b	🚸 FT_MOTION Menu available in situ (#26670 )	2024-07-15 13:27:10 -05:00
narno2202	f0bc4274f8	🧑‍💻 FT Motion: Individual axis shaping, new buffer management (#26848 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-07-15 13:13:00 -05:00
thinkyhead	20a704b154	[cron] Bump distribution date (2024-07-15)	2024-07-15 00:24:44 +00:00
ellensp	30a70c480c	✨ XTLW boards (#27260 )	2024-07-14 12:57:17 -05:00
thinkyhead	1d5e9c7dee	[cron] Bump distribution date (2024-07-14)	2024-07-14 06:08:19 +00:00
Scott Lahteine	b8ab2d4987	🩹 Fix PINS_EXIST usage	2024-07-13 23:39:27 -05:00
ellensp	ce796cec97	🧑‍💻 Fix pins debug / FastIO issues (#27261 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-07-13 23:33:11 -05:00
thinkyhead	ad4de747ad	[cron] Bump distribution date (2024-07-13)	2024-07-13 18:05:54 +00:00
Keith Bennett	95c1b7fb31	🔧 USART6 for STM32, expand port range (#27262 )	2024-07-13 12:18:47 -05:00
ellensp	29b742cfc4	🔧 Fix MKS Base default 1.4 RGB pins (#27263 )	2024-07-13 11:55:40 -05:00
tombrazier	57bda2ff3b	🐛 Fix NUM_ENDSTOP_STATES with Z_MIN_PROBE = Z_MIN (#27190 ) Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>	2024-07-13 11:50:25 -05:00
John Robertson	228179e09b	🩹 Clock-based planner trapezoidal nominal_rate (#26881 )	2024-07-13 11:47:46 -05:00