Merge pull request #88 from PavelSindler/MK2

updated messages; snmm: updated stop print, unload and load filaments, added setting bowden lengths from service menu

15 files changed, 636 insertions, 358 deletions

diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h
index c3459ebf1..483273a0f 100644
--- a/Firmware/Configuration.h
+++ b/Firmware/Configuration.h
@@ -5,7 +5,7 @@
 #include "Configuration_prusa.h"
 
 // Firmware version
-#define FW_version "3.0.10-11"
+#define FW_version "3.0.11-RC1"
 
 #define FW_PRUSA3D_MAGIC "PRUSA3DFW"
 #define FW_PRUSA3D_MAGIC_LEN 10
@@ -46,6 +46,7 @@
 #define EEPROM_PRINT_FLAG (EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY-1)
 #define EEPROM_PROBE_TEMP_SHIFT (EEPROM_PRINT_FLAG - 2*5) //5 x int for storing pinda probe temp shift relative to 50 C; unit: motor steps 
 #define EEPROM_TEMP_CAL_ACTIVE (EEPROM_PROBE_TEMP_SHIFT - 1)
+#define EEPROM_BOWDEN_LENGTH (EEPROM_TEMP_CAL_ACTIVE - 2*4) //4 x int for bowden lengths for multimaterial
 
 // Currently running firmware, each digit stored as uint16_t.
 // The flavor differentiates a dev, alpha, beta, release candidate or a release version.
diff --git a/Firmware/Marlin.h b/Firmware/Marlin.h
index c33ccb392..a8dd4eab6 100644
--- a/Firmware/Marlin.h
+++ b/Firmware/Marlin.h
@@ -282,6 +282,7 @@ extern float retract_recover_length, retract_recover_length_swap, retract_recove
 

 extern unsigned long starttime;

 extern unsigned long stoptime;

+extern int bowden_length[4];

 extern bool is_usb_printing;

 extern bool homing_flag;

 extern bool temp_cal_active;

diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 2c1a6bf09..ab50a3192 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -247,6 +247,8 @@ int extruder_multiply[EXTRUDERS] = {100
   #endif
 };
 
+int bowden_length[4];
+
 bool is_usb_printing = false;
 bool homing_flag = false;
 
@@ -265,6 +267,8 @@ float pause_lastpos[4];
 unsigned long pause_time = 0;
 unsigned long start_pause_print = millis();
 
+unsigned long load_filament_time;
+
 bool mesh_bed_leveling_flag = false;
 
 unsigned char lang_selected = 0;
@@ -897,7 +901,7 @@ int  er_progress = 0;
 void factory_reset(char level, bool quiet)
 {	
 	lcd_implementation_clear();
-	    
+	int cursor_pos = 0;
     switch (level) {
                    
         // Level 0: Language reset
@@ -969,6 +973,9 @@ void factory_reset(char level, bool quiet)
 
 
 			break;
+		case 4:
+			bowden_menu();
+			break;
         
         default:
             break;
@@ -983,178 +990,183 @@ void factory_reset(char level, bool quiet)
 // are initialized by the main() routine provided by the Arduino framework.
 void setup()
 {
-  setup_killpin();
-  setup_powerhold();
-  MYSERIAL.begin(BAUDRATE);
-  SERIAL_PROTOCOLLNPGM("start");
-  SERIAL_ECHO_START;
+	setup_killpin();
+	setup_powerhold();
+	MYSERIAL.begin(BAUDRATE);
+	SERIAL_PROTOCOLLNPGM("start");
+	SERIAL_ECHO_START;
 
 #if 0
-  SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
-  for (int i = 0; i < 4096; ++ i) {
-      int b = eeprom_read_byte((unsigned char*)i);
-      if (b != 255) {
-          SERIAL_ECHO(i);
-          SERIAL_ECHO(":");
-          SERIAL_ECHO(b);
-          SERIAL_ECHOLN("");
-      }
-  }
-  SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
-  #endif
+	SERIAL_ECHOLN("Reading eeprom from 0 to 100: start");
+	for (int i = 0; i < 4096; ++i) {
+		int b = eeprom_read_byte((unsigned char*)i);
+		if (b != 255) {
+			SERIAL_ECHO(i);
+			SERIAL_ECHO(":");
+			SERIAL_ECHO(b);
+			SERIAL_ECHOLN("");
+		}
+	}
+	SERIAL_ECHOLN("Reading eeprom from 0 to 100: done");
+#endif
 
-  // Check startup - does nothing if bootloader sets MCUSR to 0
-  byte mcu = MCUSR;
-  if(mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
-  if(mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
-  if(mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
-  if(mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
-  if(mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);
-  MCUSR=0;
-
-  //SERIAL_ECHORPGM(MSG_MARLIN);
-  //SERIAL_ECHOLNRPGM(VERSION_STRING);
-  
-	#ifdef STRING_VERSION_CONFIG_H
-		#ifdef STRING_CONFIG_H_AUTHOR
-		  SERIAL_ECHO_START;
-		  SERIAL_ECHORPGM(MSG_CONFIGURATION_VER);
-		  SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
-		  SERIAL_ECHORPGM(MSG_AUTHOR);
-		  SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
-		  SERIAL_ECHOPGM("Compiled: ");
-		  SERIAL_ECHOLNPGM(__DATE__);
-		#endif
-	#endif
-  
-  SERIAL_ECHO_START;
-  SERIAL_ECHORPGM(MSG_FREE_MEMORY);
-  SERIAL_ECHO(freeMemory());
-  SERIAL_ECHORPGM(MSG_PLANNER_BUFFER_BYTES);
-  SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
-  lcd_update_enable(false);
-  // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
-  Config_RetrieveSettings();
-  SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
-  tp_init();    // Initialize temperature loop
-  plan_init();  // Initialize planner;
-  watchdog_init();
-  st_init();    // Initialize stepper, this enables interrupts!
-  setup_photpin();
-  servo_init();
-  // Reset the machine correction matrix.
-  // It does not make sense to load the correction matrix until the machine is homed.
-  world2machine_reset();
-  
-  lcd_init();
-  if (!READ(BTN_ENC))
-  {
-	  _delay_ms(1000);
-	  if (!READ(BTN_ENC))
-	  {
-          lcd_implementation_clear();
-          
-		  
-		  lcd_printPGM(PSTR("Factory RESET"));
-		  
-          
-		  SET_OUTPUT(BEEPER);
-		  WRITE(BEEPER, HIGH);
-        
-          while (!READ(BTN_ENC));
-          
-          WRITE(BEEPER, LOW);
-          
-          
+	// Check startup - does nothing if bootloader sets MCUSR to 0
+	byte mcu = MCUSR;
+	if (mcu & 1) SERIAL_ECHOLNRPGM(MSG_POWERUP);
+	if (mcu & 2) SERIAL_ECHOLNRPGM(MSG_EXTERNAL_RESET);
+	if (mcu & 4) SERIAL_ECHOLNRPGM(MSG_BROWNOUT_RESET);
+	if (mcu & 8) SERIAL_ECHOLNRPGM(MSG_WATCHDOG_RESET);
+	if (mcu & 32) SERIAL_ECHOLNRPGM(MSG_SOFTWARE_RESET);
+	MCUSR = 0;
+
+	//SERIAL_ECHORPGM(MSG_MARLIN);
+	//SERIAL_ECHOLNRPGM(VERSION_STRING);
+
+#ifdef STRING_VERSION_CONFIG_H
+#ifdef STRING_CONFIG_H_AUTHOR
+	SERIAL_ECHO_START;
+	SERIAL_ECHORPGM(MSG_CONFIGURATION_VER);
+	SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
+	SERIAL_ECHORPGM(MSG_AUTHOR);
+	SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
+	SERIAL_ECHOPGM("Compiled: ");
+	SERIAL_ECHOLNPGM(__DATE__);
+#endif
+#endif
 
-		  _delay_ms(2000);
-          
-		  char level = reset_menu();
-		  factory_reset(level, false);
-          
-		  switch (level) {
-				case 0: _delay_ms(0); break;
-				case 1: _delay_ms(0); break;
-				case 2: _delay_ms(0); break;
-				case 3: _delay_ms(0); break;
-		  }
-		  // _delay_ms(100);
-/*
-#ifdef MESH_BED_LEVELING
-		  _delay_ms(2000);
-
-		  if (!READ(BTN_ENC))
-		  {
-			  WRITE(BEEPER, HIGH);
-			  _delay_ms(100);
-			  WRITE(BEEPER, LOW);
-			  _delay_ms(200);
-			  WRITE(BEEPER, HIGH);
-			  _delay_ms(100);
-			  WRITE(BEEPER, LOW);
-
-			  int _z = 0;
-			  calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
-			  EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
-			  EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
-			  EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
-		  }
-		  else
-		  {
+	SERIAL_ECHO_START;
+	SERIAL_ECHORPGM(MSG_FREE_MEMORY);
+	SERIAL_ECHO(freeMemory());
+	SERIAL_ECHORPGM(MSG_PLANNER_BUFFER_BYTES);
+	SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
+	lcd_update_enable(false);
+	// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
+	Config_RetrieveSettings();
+	SdFatUtil::set_stack_guard(); //writes magic number at the end of static variables to protect against overwriting static memory by stack
+	tp_init();    // Initialize temperature loop
+	plan_init();  // Initialize planner;
+	watchdog_init();
+	st_init();    // Initialize stepper, this enables interrupts!
+	setup_photpin();
+	servo_init();
+	// Reset the machine correction matrix.
+	// It does not make sense to load the correction matrix until the machine is homed.
+	world2machine_reset();
+
+	lcd_init();
+	if (!READ(BTN_ENC))
+	{
+		_delay_ms(1000);
+		if (!READ(BTN_ENC))
+		{
+			lcd_implementation_clear();
 
-			  WRITE(BEEPER, HIGH);
-			  _delay_ms(100);
-			  WRITE(BEEPER, LOW);
-		  }
-#endif // mesh */
-         
-	  }
-  }
-  else
-  {
-	  _delay_ms(1000);  // wait 1sec to display the splash screen
-  }
 
-  
+			lcd_printPGM(PSTR("Factory RESET"));
 
-  #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
-    SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
-  #endif
 
-  #ifdef DIGIPOT_I2C
-    digipot_i2c_init();
-  #endif
-  setup_homepin();
+			SET_OUTPUT(BEEPER);
+			WRITE(BEEPER, HIGH);
 
-#if defined(Z_AXIS_ALWAYS_ON)
-  enable_z();
+			while (!READ(BTN_ENC));
+
+			WRITE(BEEPER, LOW);
+
+
+
+			_delay_ms(2000);
+
+			char level = reset_menu();
+			factory_reset(level, false);
+
+			switch (level) {
+			case 0: _delay_ms(0); break;
+			case 1: _delay_ms(0); break;
+			case 2: _delay_ms(0); break;
+			case 3: _delay_ms(0); break;
+			}
+			// _delay_ms(100);
+  /*
+  #ifdef MESH_BED_LEVELING
+			_delay_ms(2000);
+
+			if (!READ(BTN_ENC))
+			{
+				WRITE(BEEPER, HIGH);
+				_delay_ms(100);
+				WRITE(BEEPER, LOW);
+				_delay_ms(200);
+				WRITE(BEEPER, HIGH);
+				_delay_ms(100);
+				WRITE(BEEPER, LOW);
+
+				int _z = 0;
+				calibration_status_store(CALIBRATION_STATUS_CALIBRATED);
+				EEPROM_save_B(EEPROM_BABYSTEP_X, &_z);
+				EEPROM_save_B(EEPROM_BABYSTEP_Y, &_z);
+				EEPROM_save_B(EEPROM_BABYSTEP_Z, &_z);
+			}
+			else
+			{
+
+				WRITE(BEEPER, HIGH);
+				_delay_ms(100);
+				WRITE(BEEPER, LOW);
+			}
+  #endif // mesh */
+
+		}
+	}
+	else
+	{
+		_delay_ms(1000);  // wait 1sec to display the splash screen
+	}
+
+
+
+#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
+	SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
 #endif
-  farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
-  EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
-  if ((farm_mode == 0xFF && farm_no == 0) || (farm_no == 0xFFFF)) farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode 
-  if (farm_no == 0xFFFF) farm_no = 0;
-  if (farm_mode)
-  {
-	  prusa_statistics(8);
-  }
 
-  // Enable Toshiba FlashAir SD card / WiFi enahanced card.
-  card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
-  // Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false), 
-  // but this times out if a blocking dialog is shown in setup().
-  card.initsd();
-
-  if (eeprom_read_dword((uint32_t*)(EEPROM_TOP-4)) == 0x0ffffffff && 
-      eeprom_read_dword((uint32_t*)(EEPROM_TOP-8)) == 0x0ffffffff &&
-      eeprom_read_dword((uint32_t*)(EEPROM_TOP-12)) == 0x0ffffffff) {
-      // Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
-      // where all the EEPROM entries are set to 0x0ff.
-      // Once a firmware boots up, it forces at least a language selection, which changes
-      // EEPROM_LANG to number lower than 0x0ff.
-      // 1) Set a high power mode.
-      eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);	  
-  }
+#ifdef DIGIPOT_I2C
+	digipot_i2c_init();
+#endif
+	setup_homepin();
 
+#if defined(Z_AXIS_ALWAYS_ON)
+	enable_z();
+#endif
+	farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
+	EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
+	if ((farm_mode == 0xFF && farm_no == 0) || (farm_no == 0xFFFF)) farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode 
+	if (farm_no == 0xFFFF) farm_no = 0;
+	if (farm_mode)
+	{
+		prusa_statistics(8);
+	}
+
+	// Enable Toshiba FlashAir SD card / WiFi enahanced card.
+	card.ToshibaFlashAir_enable(eeprom_read_byte((unsigned char*)EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY) == 1);
+	// Force SD card update. Otherwise the SD card update is done from loop() on card.checkautostart(false), 
+	// but this times out if a blocking dialog is shown in setup().
+	card.initsd();
+
+	if (eeprom_read_dword((uint32_t*)(EEPROM_TOP - 4)) == 0x0ffffffff &&
+		eeprom_read_dword((uint32_t*)(EEPROM_TOP - 8)) == 0x0ffffffff &&
+		eeprom_read_dword((uint32_t*)(EEPROM_TOP - 12)) == 0x0ffffffff) {
+		// Maiden startup. The firmware has been loaded and first started on a virgin RAMBo board,
+		// where all the EEPROM entries are set to 0x0ff.
+		// Once a firmware boots up, it forces at least a language selection, which changes
+		// EEPROM_LANG to number lower than 0x0ff.
+		// 1) Set a high power mode.
+		eeprom_write_byte((uint8_t*)EEPROM_SILENT, 0);
+	}
+#ifdef SNMM
+	if (eeprom_read_dword((uint32_t*)EEPROM_BOWDEN_LENGTH) == 0x0ffffffff) { //bowden length used for SNMM
+	  int _z = BOWDEN_LENGTH;
+	  for(int i = 0; i<4; i++) EEPROM_save_B(EEPROM_BOWDEN_LENGTH + i * 2, &_z);
+	}
+#endif
 
   // In the future, somewhere here would one compare the current firmware version against the firmware version stored in the EEPROM.
   // If they differ, an update procedure may need to be performed. At the end of this block, the current firmware version
@@ -1188,6 +1200,7 @@ void setup()
       // Show the message.
       lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
   }
+  for (int i = 0; i<4; i++) EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
   lcd_update_enable(true);
 
   // Store the currently running firmware into an eeprom,
@@ -2050,68 +2063,8 @@ void process_commands()
 
     } else if(code_seen("FR")) {
         // Factory full reset
-        factory_reset(0,true);
-        
-    }else if(code_seen("Y")) { //filaments adjustment at the beginning of print (for SNMM)
-	#ifdef SNMM
-		int extr;
-		SilentMode = eeprom_read_byte((uint8_t*)EEPROM_SILENT); //is  silent mode or loud mode set
-		lcd_implementation_clear();
-		lcd_display_message_fullscreen_P(MSG_FIL_ADJUSTING);
-		current_position[Z_AXIS] = 100; 
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder); 
-		digipot_current(2, E_MOTOR_HIGH_CURRENT);
-		for (extr = 1; extr < 4; extr++) { //we dont know which filament is in nozzle, but we want to load filament0, so all other filaments must unloaded 
-			change_extr(extr);
-			ramming();			
-		}
-		change_extr(0);
-		current_position[E_AXIS] += FIL_LOAD_LENGTH; //loading filament0 into the nozzle
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
-		st_synchronize();
-				
-		for (extr = 1; extr < 4; extr++) {	
-			digipot_current(2, E_MOTOR_LOW_CURRENT); //set lower current for extruder motors
-			change_extr(extr);
-			current_position[E_AXIS] += (FIL_LOAD_LENGTH + 3 * FIL_RETURN_LENGTH); //adjusting filaments
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5000, active_extruder);
-			st_synchronize();
-			digipot_current(2, tmp_motor_loud[2]); //set back to normal operation currents
-			current_position[E_AXIS] -= FIL_RETURN_LENGTH;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
-			st_synchronize();
-		}
-
-		change_extr(0);
-		current_position[E_AXIS] += 25;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 10, active_extruder);
-		digipot_current(2, E_MOTOR_HIGH_CURRENT);
-		ramming();
-		if (SilentMode == 1) digipot_current(2, tmp_motor[2]); //set back to normal operation currents
-		else digipot_current(2, tmp_motor_loud[2]);
-		st_synchronize();
-		lcd_show_fullscreen_message_and_wait_P(MSG_CONFIRM_NOZZLE_CLEAN_FIL_ADJ);
-		lcd_implementation_clear();
-		lcd_printPGM(MSG_PLEASE_WAIT);
-		current_position[Z_AXIS] = 0;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
-		st_synchronize();
-		lcd_update_enable(true);
-
-	#endif
-	}
-	else if (code_seen("SetF")) {
-#ifdef SNMM
-		bool not_finished = (eeprom_read_byte((unsigned char*)EEPROM_PRINT_FLAG) != PRINT_FINISHED);
-		eeprom_update_byte((unsigned char*)EEPROM_PRINT_FLAG, PRINT_STARTED);
-		if (not_finished) enquecommand_front_P(PSTR("PRUSA Y"));
-#endif
-	}
-	else if (code_seen("ResF")) {
-#ifdef SNMM
-		eeprom_update_byte((unsigned char*)EEPROM_PRINT_FLAG, PRINT_FINISHED);
-#endif
-	}
+        factory_reset(0,true);        
+    }
     //else if (code_seen('Cal')) {
 		//  lcd_calibration();
 	  // }
@@ -5109,11 +5062,35 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
         }
         else
         {
-          #ifdef FILAMENTCHANGE_FINALRETRACT
-            target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
-          #endif
+			#ifdef SNMM
+
+			#else
+				#ifdef FILAMENTCHANGE_FINALRETRACT
+							target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
+				#endif
+			#endif // SNMM
         }
-        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
+
+#ifdef SNMM
+		target[E_AXIS] += 12;
+		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3500, active_extruder);
+		target[E_AXIS] += 6;
+		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
+		target[E_AXIS] += (FIL_LOAD_LENGTH * -1);
+		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 5000, active_extruder);
+		st_synchronize();
+		target[E_AXIS] += (FIL_COOLING);
+		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
+		target[E_AXIS] += (FIL_COOLING*-1);
+		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
+		target[E_AXIS] += (bowden_length[snmm_extruder] *-1);
+		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
+		st_synchronize();
+
+#else
+		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
+#endif // SNMM
+		     
 
         //finish moves
         st_synchronize();
@@ -5127,10 +5104,19 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
         uint8_t cnt=0;
         int counterBeep = 0;
         lcd_wait_interact();
+		load_filament_time = millis();
         while(!lcd_clicked()){
-          cnt++;
+
+		  cnt++;
           manage_heater();
           manage_inactivity(true);
+
+/*#ifdef SNMM
+		  target[E_AXIS] += 0.002;
+		  plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
+
+#endif // SNMM*/
+
           if(cnt==0)
           {
           #if BEEPER > 0
@@ -5140,7 +5126,7 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
             SET_OUTPUT(BEEPER);
             if (counterBeep== 0){
               WRITE(BEEPER,HIGH);
-            }
+            }			
             if (counterBeep== 20){
               WRITE(BEEPER,LOW);
             }
@@ -5153,14 +5139,41 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 			   #endif
           #endif
           }
+
         }
+#ifdef SNMM
+		display_loading();
+		do {
+			target[E_AXIS] += 0.002;
+			plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 500, active_extruder);
+			delay_keep_alive(2);
+		} while (!lcd_clicked());		
+		/*if (millis() - load_filament_time > 2) {
+			load_filament_time = millis();
+			target[E_AXIS] += 0.001;
+			plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1000, active_extruder);
+		}*/
+#endif
         //Filament inserted
         
         WRITE(BEEPER,LOW);
-        
-        //Feed the filament to the end of nozzle quickly
-        target[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
-        plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder); 
+
+		//Feed the filament to the end of nozzle quickly        
+#ifdef SNMM
+		
+		st_synchronize();
+		target[E_AXIS] += bowden_length[snmm_extruder];
+		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 3000, active_extruder);
+		target[E_AXIS] += FIL_LOAD_LENGTH - 60;
+		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 1400, active_extruder);
+		target[E_AXIS] += 40;
+		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 400, active_extruder);
+		target[E_AXIS] += 10;
+		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], 50, active_extruder);
+#else
+		target[E_AXIS] += FILAMENTCHANGE_FIRSTFEED;
+		plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], FILAMENTCHANGE_EFEED, active_extruder);
+#endif // SNMM
         
         //Extrude some filament
         target[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
@@ -5198,6 +5211,7 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
              // Everything good             
              default:
                      lcd_change_success();
+					 lcd_update_enable(true);
                      break;
           }
           
@@ -5352,6 +5366,9 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 	break;
 	case 702:
 	{
+#ifdef SNMM
+		extr_unload_all();
+#else
 		custom_message = true;
 		custom_message_type = 2;
 		lcd_setstatuspgm(MSG_UNLOADING_FILAMENT); 
@@ -5363,7 +5380,7 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 		lcd_setstatuspgm(WELCOME_MSG);
 		custom_message = false;
 		custom_message_type = 0;
-		
+#endif	
 	}
 	break;
 
@@ -5389,6 +5406,7 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 	  else {
 		  tmp_extruder = code_value();
 #ifdef SNMM
+		  snmm_extruder = tmp_extruder;
 
 		  st_synchronize();
 		  delay(100);
diff --git a/Firmware/language_all.cpp b/Firmware/language_all.cpp
index 9fc3afbfe..7c2cf4941 100644
--- a/Firmware/language_all.cpp
+++ b/Firmware/language_all.cpp
@@ -968,13 +968,15 @@ const char * const MSG_FIL_ADJUSTING_LANG_TABLE[LANG_NUM] PROGMEM = {
 
 const char MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_EN[] PROGMEM = "Iteration ";
 const char MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_CZ[] PROGMEM = "Iterace ";
-const char MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_ES[] PROGMEM = "Iteracion ";
+const char MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_IT[] PROGMEM = "Reiterazione ";
+const char MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_ES[] PROGMEM = "Reiteracion ";
+const char MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_PL[] PROGMEM = "Iteracja ";
 const char * const MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_EN,
 	MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_CZ,
-	MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_EN,
+	MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_IT,
 	MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_ES,
-	MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_EN,
+	MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_PL,
 	MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_EN
 };
 
@@ -1280,6 +1282,17 @@ const char * const MSG_LOADING_FILAMENT_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_LOADING_FILAMENT_DE
 };
 
+const char MSG_LOAD_ALL_EN[] PROGMEM = "Load all";
+const char MSG_LOAD_ALL_CZ[] PROGMEM = "Zavest vse";
+const char * const MSG_LOAD_ALL_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_LOAD_ALL_EN,
+	MSG_LOAD_ALL_CZ,
+	MSG_LOAD_ALL_EN,
+	MSG_LOAD_ALL_EN,
+	MSG_LOAD_ALL_EN,
+	MSG_LOAD_ALL_EN
+};
+
 const char MSG_LOAD_EPROM_EN[] PROGMEM = "Load memory";
 const char * const MSG_LOAD_EPROM_LANG_TABLE[1] PROGMEM = {
 	MSG_LOAD_EPROM_EN
@@ -1300,6 +1313,50 @@ const char * const MSG_LOAD_FILAMENT_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_LOAD_FILAMENT_DE
 };
 
+const char MSG_LOAD_FILAMENT_1_EN[] PROGMEM = "Load filament 1";
+const char MSG_LOAD_FILAMENT_1_CZ[] PROGMEM = "Zavest filament 1";
+const char * const MSG_LOAD_FILAMENT_1_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_LOAD_FILAMENT_1_EN,
+	MSG_LOAD_FILAMENT_1_CZ,
+	MSG_LOAD_FILAMENT_1_EN,
+	MSG_LOAD_FILAMENT_1_EN,
+	MSG_LOAD_FILAMENT_1_EN,
+	MSG_LOAD_FILAMENT_1_EN
+};
+
+const char MSG_LOAD_FILAMENT_2_EN[] PROGMEM = "Load filament 2";
+const char MSG_LOAD_FILAMENT_2_CZ[] PROGMEM = "Zavest filament 2";
+const char * const MSG_LOAD_FILAMENT_2_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_LOAD_FILAMENT_2_EN,
+	MSG_LOAD_FILAMENT_2_CZ,
+	MSG_LOAD_FILAMENT_2_EN,
+	MSG_LOAD_FILAMENT_2_EN,
+	MSG_LOAD_FILAMENT_2_EN,
+	MSG_LOAD_FILAMENT_2_EN
+};
+
+const char MSG_LOAD_FILAMENT_3_EN[] PROGMEM = "Load filament 3";
+const char MSG_LOAD_FILAMENT_3_CZ[] PROGMEM = "Zavest filament 3";
+const char * const MSG_LOAD_FILAMENT_3_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_LOAD_FILAMENT_3_EN,
+	MSG_LOAD_FILAMENT_3_CZ,
+	MSG_LOAD_FILAMENT_3_EN,
+	MSG_LOAD_FILAMENT_3_EN,
+	MSG_LOAD_FILAMENT_3_EN,
+	MSG_LOAD_FILAMENT_3_EN
+};
+
+const char MSG_LOAD_FILAMENT_4_EN[] PROGMEM = "Load filament 4";
+const char MSG_LOAD_FILAMENT_4_CZ[] PROGMEM = "Zavest filament 4";
+const char * const MSG_LOAD_FILAMENT_4_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_LOAD_FILAMENT_4_EN,
+	MSG_LOAD_FILAMENT_4_CZ,
+	MSG_LOAD_FILAMENT_4_EN,
+	MSG_LOAD_FILAMENT_4_EN,
+	MSG_LOAD_FILAMENT_4_EN,
+	MSG_LOAD_FILAMENT_4_EN
+};
+
 const char MSG_LOOSE_PULLEY_EN[] PROGMEM = "Loose pulley";
 const char MSG_LOOSE_PULLEY_CZ[] PROGMEM = "Uvolnena remenicka";
 const char MSG_LOOSE_PULLEY_IT[] PROGMEM = "Puleggia lenta";
@@ -2947,6 +3004,17 @@ const char * const MSG_UNLOADING_FILAMENT_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_UNLOADING_FILAMENT_DE
 };
 
+const char MSG_UNLOAD_ALL_EN[] PROGMEM = "Unload all";
+const char MSG_UNLOAD_ALL_CZ[] PROGMEM = "Vyjmout vse";
+const char * const MSG_UNLOAD_ALL_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_UNLOAD_ALL_EN,
+	MSG_UNLOAD_ALL_CZ,
+	MSG_UNLOAD_ALL_EN,
+	MSG_UNLOAD_ALL_EN,
+	MSG_UNLOAD_ALL_EN,
+	MSG_UNLOAD_ALL_EN
+};
+
 const char MSG_UNLOAD_FILAMENT_EN[] PROGMEM = "Unload filament";
 const char MSG_UNLOAD_FILAMENT_CZ[] PROGMEM = "Vyjmout filament";
 const char MSG_UNLOAD_FILAMENT_IT[] PROGMEM = "Scarica filamento";
@@ -2962,6 +3030,50 @@ const char * const MSG_UNLOAD_FILAMENT_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_UNLOAD_FILAMENT_DE
 };
 
+const char MSG_UNLOAD_FILAMENT_1_EN[] PROGMEM = "Unload filament 1";
+const char MSG_UNLOAD_FILAMENT_1_CZ[] PROGMEM = "Vyjmout filament 1";
+const char * const MSG_UNLOAD_FILAMENT_1_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_UNLOAD_FILAMENT_1_EN,
+	MSG_UNLOAD_FILAMENT_1_CZ,
+	MSG_UNLOAD_FILAMENT_1_EN,
+	MSG_UNLOAD_FILAMENT_1_EN,
+	MSG_UNLOAD_FILAMENT_1_EN,
+	MSG_UNLOAD_FILAMENT_1_EN
+};
+
+const char MSG_UNLOAD_FILAMENT_2_EN[] PROGMEM = "Unload filament 2";
+const char MSG_UNLOAD_FILAMENT_2_CZ[] PROGMEM = "Vyjmout filament 2";
+const char * const MSG_UNLOAD_FILAMENT_2_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_UNLOAD_FILAMENT_2_EN,
+	MSG_UNLOAD_FILAMENT_2_CZ,
+	MSG_UNLOAD_FILAMENT_2_EN,
+	MSG_UNLOAD_FILAMENT_2_EN,
+	MSG_UNLOAD_FILAMENT_2_EN,
+	MSG_UNLOAD_FILAMENT_2_EN
+};
+
+const char MSG_UNLOAD_FILAMENT_3_EN[] PROGMEM = "Unload filament 3";
+const char MSG_UNLOAD_FILAMENT_3_CZ[] PROGMEM = "Vyjmout filament 3";
+const char * const MSG_UNLOAD_FILAMENT_3_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_UNLOAD_FILAMENT_3_EN,
+	MSG_UNLOAD_FILAMENT_3_CZ,
+	MSG_UNLOAD_FILAMENT_3_EN,
+	MSG_UNLOAD_FILAMENT_3_EN,
+	MSG_UNLOAD_FILAMENT_3_EN,
+	MSG_UNLOAD_FILAMENT_3_EN
+};
+
+const char MSG_UNLOAD_FILAMENT_4_EN[] PROGMEM = "Unload filament 4";
+const char MSG_UNLOAD_FILAMENT_4_CZ[] PROGMEM = "Vyjmout filament 4";
+const char * const MSG_UNLOAD_FILAMENT_4_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_UNLOAD_FILAMENT_4_EN,
+	MSG_UNLOAD_FILAMENT_4_CZ,
+	MSG_UNLOAD_FILAMENT_4_EN,
+	MSG_UNLOAD_FILAMENT_4_EN,
+	MSG_UNLOAD_FILAMENT_4_EN,
+	MSG_UNLOAD_FILAMENT_4_EN
+};
+
 const char MSG_USB_PRINTING_EN[] PROGMEM = "USB printing  ";
 const char MSG_USB_PRINTING_CZ[] PROGMEM = "Tisk z USB  ";
 const char MSG_USB_PRINTING_IT[] PROGMEM = "Stampa da USB";
diff --git a/Firmware/language_all.h b/Firmware/language_all.h
index 968a074f3..f04a07278 100644
--- a/Firmware/language_all.h
+++ b/Firmware/language_all.h
@@ -255,10 +255,20 @@ extern const char* const MSG_LOADING_COLOR_LANG_TABLE[LANG_NUM];
 #define MSG_LOADING_COLOR LANG_TABLE_SELECT(MSG_LOADING_COLOR_LANG_TABLE)
 extern const char* const MSG_LOADING_FILAMENT_LANG_TABLE[LANG_NUM];
 #define MSG_LOADING_FILAMENT LANG_TABLE_SELECT(MSG_LOADING_FILAMENT_LANG_TABLE)
+extern const char* const MSG_LOAD_ALL_LANG_TABLE[LANG_NUM];
+#define MSG_LOAD_ALL LANG_TABLE_SELECT(MSG_LOAD_ALL_LANG_TABLE)
 extern const char* const MSG_LOAD_EPROM_LANG_TABLE[1];
 #define MSG_LOAD_EPROM LANG_TABLE_SELECT_EXPLICIT(MSG_LOAD_EPROM_LANG_TABLE, 0)
 extern const char* const MSG_LOAD_FILAMENT_LANG_TABLE[LANG_NUM];
 #define MSG_LOAD_FILAMENT LANG_TABLE_SELECT(MSG_LOAD_FILAMENT_LANG_TABLE)
+extern const char* const MSG_LOAD_FILAMENT_1_LANG_TABLE[LANG_NUM];
+#define MSG_LOAD_FILAMENT_1 LANG_TABLE_SELECT(MSG_LOAD_FILAMENT_1_LANG_TABLE)
+extern const char* const MSG_LOAD_FILAMENT_2_LANG_TABLE[LANG_NUM];
+#define MSG_LOAD_FILAMENT_2 LANG_TABLE_SELECT(MSG_LOAD_FILAMENT_2_LANG_TABLE)
+extern const char* const MSG_LOAD_FILAMENT_3_LANG_TABLE[LANG_NUM];
+#define MSG_LOAD_FILAMENT_3 LANG_TABLE_SELECT(MSG_LOAD_FILAMENT_3_LANG_TABLE)
+extern const char* const MSG_LOAD_FILAMENT_4_LANG_TABLE[LANG_NUM];
+#define MSG_LOAD_FILAMENT_4 LANG_TABLE_SELECT(MSG_LOAD_FILAMENT_4_LANG_TABLE)
 extern const char* const MSG_LOOSE_PULLEY_LANG_TABLE[LANG_NUM];
 #define MSG_LOOSE_PULLEY LANG_TABLE_SELECT(MSG_LOOSE_PULLEY_LANG_TABLE)
 extern const char* const MSG_M104_INVALID_EXTRUDER_LANG_TABLE[1];
@@ -555,8 +565,18 @@ extern const char* const MSG_UNKNOWN_COMMAND_LANG_TABLE[1];
 #define MSG_UNKNOWN_COMMAND LANG_TABLE_SELECT_EXPLICIT(MSG_UNKNOWN_COMMAND_LANG_TABLE, 0)
 extern const char* const MSG_UNLOADING_FILAMENT_LANG_TABLE[LANG_NUM];
 #define MSG_UNLOADING_FILAMENT LANG_TABLE_SELECT(MSG_UNLOADING_FILAMENT_LANG_TABLE)
+extern const char* const MSG_UNLOAD_ALL_LANG_TABLE[LANG_NUM];
+#define MSG_UNLOAD_ALL LANG_TABLE_SELECT(MSG_UNLOAD_ALL_LANG_TABLE)
 extern const char* const MSG_UNLOAD_FILAMENT_LANG_TABLE[LANG_NUM];
 #define MSG_UNLOAD_FILAMENT LANG_TABLE_SELECT(MSG_UNLOAD_FILAMENT_LANG_TABLE)
+extern const char* const MSG_UNLOAD_FILAMENT_1_LANG_TABLE[LANG_NUM];
+#define MSG_UNLOAD_FILAMENT_1 LANG_TABLE_SELECT(MSG_UNLOAD_FILAMENT_1_LANG_TABLE)
+extern const char* const MSG_UNLOAD_FILAMENT_2_LANG_TABLE[LANG_NUM];
+#define MSG_UNLOAD_FILAMENT_2 LANG_TABLE_SELECT(MSG_UNLOAD_FILAMENT_2_LANG_TABLE)
+extern const char* const MSG_UNLOAD_FILAMENT_3_LANG_TABLE[LANG_NUM];
+#define MSG_UNLOAD_FILAMENT_3 LANG_TABLE_SELECT(MSG_UNLOAD_FILAMENT_3_LANG_TABLE)
+extern const char* const MSG_UNLOAD_FILAMENT_4_LANG_TABLE[LANG_NUM];
+#define MSG_UNLOAD_FILAMENT_4 LANG_TABLE_SELECT(MSG_UNLOAD_FILAMENT_4_LANG_TABLE)
 extern const char* const MSG_USB_PRINTING_LANG_TABLE[LANG_NUM];
 #define MSG_USB_PRINTING LANG_TABLE_SELECT(MSG_USB_PRINTING_LANG_TABLE)
 extern const char* const MSG_USERWAIT_LANG_TABLE[LANG_NUM];
diff --git a/Firmware/language_cz.h b/Firmware/language_cz.h
index f92e6d6eb..9712ab371 100644
--- a/Firmware/language_cz.h
+++ b/Firmware/language_cz.h
@@ -74,6 +74,16 @@
 #define MSG_PREHEAT                         "Predehrev"
 #define MSG_UNLOAD_FILAMENT                 "Vyjmout filament"
 #define MSG_LOAD_FILAMENT                 "Zavest filament"
+#define MSG_LOAD_FILAMENT_1					"Zavest filament 1"
+#define MSG_LOAD_FILAMENT_2					"Zavest filament 2"
+#define MSG_LOAD_FILAMENT_3					"Zavest filament 3"
+#define MSG_LOAD_FILAMENT_4					"Zavest filament 4"
+#define MSG_UNLOAD_FILAMENT_1				"Vyjmout filament 1"
+#define MSG_UNLOAD_FILAMENT_2				"Vyjmout filament 2"
+#define MSG_UNLOAD_FILAMENT_3				"Vyjmout filament 3"
+#define MSG_UNLOAD_FILAMENT_4				"Vyjmout filament 4"
+#define MSG_UNLOAD_ALL						"Vyjmout vse"
+#define MSG_LOAD_ALL						"Zavest vse"
 
 #define MSG_RECTRACT                        "Rectract"
 #define MSG_ERROR                       "CHYBA:"
diff --git a/Firmware/language_en.h b/Firmware/language_en.h
index 204cc70ca..ec3ea2110 100644
--- a/Firmware/language_en.h
+++ b/Firmware/language_en.h
@@ -71,6 +71,17 @@
 #define MSG_PREHEAT                         "Preheat"
 #define MSG_UNLOAD_FILAMENT                 "Unload filament"
 #define MSG_LOAD_FILAMENT                 "Load filament"
+#define MSG_LOAD_FILAMENT_1					"Load filament 1"
+#define MSG_LOAD_FILAMENT_2					"Load filament 2"
+#define MSG_LOAD_FILAMENT_3					"Load filament 3"
+#define MSG_LOAD_FILAMENT_4					"Load filament 4"
+#define MSG_UNLOAD_FILAMENT_1				"Unload filament 1"
+#define MSG_UNLOAD_FILAMENT_2				"Unload filament 2"
+#define MSG_UNLOAD_FILAMENT_3				"Unload filament 3"
+#define MSG_UNLOAD_FILAMENT_4				"Unload filament 4"
+#define MSG_UNLOAD_ALL						"Unload all"
+#define MSG_LOAD_ALL						"Load all"
+
 
 #define MSG_RECTRACT                        "Rectract"
 #define MSG_ERROR                        "ERROR:"
diff --git a/Firmware/language_es.h b/Firmware/language_es.h
index 7a43092f4..066412cf8 100644
--- a/Firmware/language_es.h
+++ b/Firmware/language_es.h
@@ -206,7 +206,7 @@
 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1	"Medir la altura del punto de la calibracion"
 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2	" de 9"
 
-#define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION	"Iteracion "
+#define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION	"Reiteracion "
 #define MSG_BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND           "Calibracion XYZ fallada. Puntos de calibracion en la cama no encontrados."
 #define MSG_BED_SKEW_OFFSET_DETECTION_FITTING_FAILED            "Calibracion XYZ fallada. Consultar el manual por favor."
 #define MSG_BED_SKEW_OFFSET_DETECTION_PERFECT               "Calibracion XYZ ok. Ejes X/Y perpendiculares. Felicitaciones!"
diff --git a/Firmware/language_it.h b/Firmware/language_it.h
index 26f5ae484..1075d9a7d 100644
--- a/Firmware/language_it.h
+++ b/Firmware/language_it.h
@@ -196,6 +196,7 @@
 #define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2		" su 9"

 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1		"Misurare l'altezza di riferimento del punto di calibrazione"

 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2		" su 9"

+#define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION	"Reiterazione "

 

 #define MSG_BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND		"Calibrazione XYZ fallita. Il punto di calibrazione sul letto non e' stato trovato."

 #define MSG_BED_SKEW_OFFSET_DETECTION_FITTING_FAILED		"Calibrazione XYZ fallita. Si prega di consultare il manuale."

diff --git a/Firmware/language_pl.h b/Firmware/language_pl.h
index 83fbfa8b9..d8cae5c1e 100644
--- a/Firmware/language_pl.h
+++ b/Firmware/language_pl.h
@@ -211,6 +211,7 @@
 #define MSG_IMPROVE_BED_OFFSET_AND_SKEW_LINE2   	" z 9"
 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE1		"Okreslam wysokosc odniesienia punktu kalibracyjnego"
 #define MSG_MEASURE_BED_REFERENCE_HEIGHT_LINE2		" z 9"
+#define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION	"Iteracja "
 
 #define MSG_BED_SKEW_OFFSET_DETECTION_POINT_NOT_FOUND           "Kalibr. XYZ nieudana. Kalibracyjny punkt podkladki nieznaleziony."
 #define MSG_BED_SKEW_OFFSET_DETECTION_FITTING_FAILED            "Kalibracja XYZ niepowiedziona. Sprawdzic w instrukcji."
diff --git a/Firmware/planner.h b/Firmware/planner.h
index a13aa1bd2..30194952d 100644
--- a/Firmware/planner.h
+++ b/Firmware/planner.h
@@ -171,7 +171,9 @@ FORCE_INLINE block_t *plan_get_current_block()
 }
 
 // Returns true if the buffer has a queued block, false otherwise
-FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
+FORCE_INLINE bool blocks_queued() { 
+	return (block_buffer_head != block_buffer_tail); 
+}
 
 //return the nr of buffered moves
 FORCE_INLINE uint8_t moves_planned() {
diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp
index 919c55918..b92f54ee1 100644
--- a/Firmware/stepper.cpp
+++ b/Firmware/stepper.cpp
@@ -515,14 +515,39 @@ ISR(TIMER1_COMPA_vect)
     }
     #endif
 
-    if ((out_bits & (1<<E_AXIS)) != 0) {  // -direction
-      REV_E_DIR();
-      count_direction[E_AXIS]=-1;
-    }
-    else { // +direction
-      NORM_E_DIR();
-      count_direction[E_AXIS]=1;
-    }
+	if ((out_bits & (1 << E_AXIS)) != 0)
+	{	// -direction
+		//AKU
+#ifdef SNMM
+		if (snmm_extruder == 0 || snmm_extruder == 2)
+		{
+			NORM_E_DIR();
+		}
+		else
+		{
+			REV_E_DIR();
+		}
+#else
+		REV_E_DIR();
+#endif // SNMM
+		count_direction[E_AXIS] = -1;
+	}
+	else
+	{	// +direction
+#ifdef SNMM
+		if (snmm_extruder == 0 || snmm_extruder == 2)
+		{
+			REV_E_DIR();
+		}
+		else
+		{
+			NORM_E_DIR();
+		}
+#else
+		NORM_E_DIR();
+#endif // SNMM
+		count_direction[E_AXIS] = 1;
+	}
 
     for(uint8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
       #ifndef AT90USB
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 94c3ad761..a933d4bc1 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -96,6 +96,10 @@ int8_t SDscrool = 0;
 
 int8_t SilentModeMenu = 0;
 
+#ifdef SNMM
+uint8_t snmm_extruder = 0;
+#endif
+
 int lcd_commands_type=LCD_COMMAND_IDLE;
 int lcd_commands_step=0;
 bool isPrintPaused = false;
@@ -589,6 +593,7 @@ void lcd_commands()
 
 	if (lcd_commands_type == LCD_COMMAND_STOP_PRINT)   /// stop print
 	{
+		uint8_t stopped_extruder;
 
 		if (lcd_commands_step == 0) 
 		{ 
@@ -608,9 +613,8 @@ void lcd_commands()
 		if (lcd_commands_step == 2 && !blocks_queued())
 		{
 			setTargetBed(0);
-			setTargetHotend(0, 0);
-			setTargetHotend(0, 1);
-			setTargetHotend(0, 2);
+			enquecommand_P(PSTR("M104 S0")); //set hotend temp to 0
+
 			manage_heater();
 			lcd_setstatuspgm(WELCOME_MSG);
 			cancel_heatup = false;
@@ -620,9 +624,6 @@ void lcd_commands()
 		{
       // M84: Disable steppers.
 			enquecommand_P(PSTR("M84"));
-#ifdef SNMM
-			enquecommand_P(PSTR("PRUSA ResF")); //resets flag at the end of the print (used for SNMM)
-#endif
 			autotempShutdown();
 			lcd_commands_step = 2;
 		}
@@ -671,62 +672,7 @@ void lcd_commands()
 			lcd_commands_step = 5;
 		}
 		if (lcd_commands_step == 7 && !blocks_queued()) {
-			/*ramming();
-			st_synchronize();
-			change_extr(0);*/
-			st_synchronize();
-			enquecommand_P(PSTR("M907 E700")); //set extruder current higher
-			enquecommand_P(PSTR("M203 E50"));
-			st_synchronize();
-			if (current_temperature[0] < 230) {
-				// PLA
-								
-				//enquecommand_P(PSTR("G1 E-8 F2100.000000"));
-				//enquecommand_P(PSTR("G1 E8 F2100.000000"));
-				enquecommand_P(PSTR("G1 E5.4 F2800.000000"));
-				enquecommand_P(PSTR("G1 E3.2 F3000.000000"));
-				enquecommand_P(PSTR("G1 E3 F3400.000000"));
-				enquecommand_P(PSTR("M203 E80"));
-				st_synchronize();
-				enquecommand_P(PSTR("G1 E-82 F9500.000000"));
-				enquecommand_P(PSTR("M203 E50"));
-				enquecommand_P(PSTR("G1 E-20 F1200.000000"));
-				enquecommand_P(PSTR("G1 E5 F400.000000"));
-				enquecommand_P(PSTR("G1 E5 F600.000000"));
-				st_synchronize();
-				enquecommand_P(PSTR("G1 E-10 F600.000000"));
-				enquecommand_P(PSTR("G1 E+10 F600.000000"));
-				enquecommand_P(PSTR("G1 E-10 F800.000000"));
-				enquecommand_P(PSTR("G1 E+10 F800.000000"));
-				enquecommand_P(PSTR("G1 E-10 F800.000000"));
-				st_synchronize();
-			}else {
-				// ABS
-				
-				//enquecommand_P(PSTR("G1 E-8 F2100.000000"));
-				//enquecommand_P(PSTR("G1 E8 F2100.000000"));
-				enquecommand_P(PSTR("G1 E3.1 F2000.000000"));
-				enquecommand_P(PSTR("G1 E3.1 F2500.000000"));
-				enquecommand_P(PSTR("G1 E4 F3000.000000"));
-				st_synchronize();
-				enquecommand_P(PSTR("G4 P4700"));
-				enquecommand_P(PSTR("M203 E80"));
-				enquecommand_P(PSTR("G1 E-92 F9900.000000"));
-				enquecommand_P(PSTR("M203 E50"));
-				enquecommand_P(PSTR("G1 E-5 F800.000000"));
-				enquecommand_P(PSTR("G1 E5 F400.000000"));
-				st_synchronize();
-				enquecommand_P(PSTR("G1 E-5 F600.000000"));
-				enquecommand_P(PSTR("G1 E5 F600.000000"));
-				enquecommand_P(PSTR("G1 E-5 F600.000000"));
-				enquecommand_P(PSTR("G1 E5 F600.000000"));
-				enquecommand_P(PSTR("G1 E5 F600.000000"));
-				st_synchronize();
-			}
-			enquecommand_P(PSTR("T0"));
-			enquecommand_P(PSTR("M907 E550")); //set extruder current to 500
-			//digipot_init();
-			
+			enquecommand_P(PSTR("M702"));
 			lcd_commands_step = 3;
 		}
 	}
@@ -2821,38 +2767,112 @@ void lcd_mylang() {
 
 }
 
-char reset_menu() {
-	int enc_dif = 0;
-	char cursor_pos = 0;
-
+void bowden_menu() {
+	int enc_dif = encoderDiff;
+	int cursor_pos = 0;
 	lcd_implementation_clear();
+	lcd.setCursor(0, 0);
+	lcd.print(">");
+	for (int i = 0; i < 4; i++) {
+		lcd.setCursor(1, i);
+		lcd.print("Extruder ");
+		lcd.print(i);
+		lcd.print(": ");
+		EEPROM_read_B(EEPROM_BOWDEN_LENGTH + i * 2, &bowden_length[i]);
+		lcd.print(bowden_length[i] - 48);
 
-	lcd.setCursor(1, 0);
+	}
+	enc_dif = encoderDiff;
+	/*while (1) {
+		if (lcd_clicked()) {
+			while (lcd_clicked());
+			delay(10);
+			while (lcd_clicked());
+			break;
+		}
+	}*/
 
-	lcd_printPGM(PSTR("Language"));
+	while (1) {
 		
+		manage_heater();
+		manage_inactivity(true);
 
-	lcd.setCursor(1, 1);
-
-	lcd_printPGM(PSTR("Statistics"));
-
-
-	lcd.setCursor(1, 2);
-	
-	lcd_printPGM(PSTR("Shiping prep"));
+				lcd.setCursor(0, 0);
+				lcd.print(" ");
+				lcd.setCursor(0, 1);
+				lcd.print(" ");
+				lcd.setCursor(0, 2);
+				lcd.print(" ");
+				lcd.setCursor(0, 3);
+				lcd.print(" ");
+				lcd.setCursor(0, cursor_pos);
+				lcd.print(">");
+				
+				
+				if (abs((enc_dif - encoderDiff)) > 4) {
+
+					if ((abs(enc_dif - encoderDiff)) > 1) {
+						if (enc_dif > encoderDiff) {
+							bowden_length[cursor_pos]--;
+							lcd.setCursor(13, cursor_pos);
+							lcd.print(bowden_length[cursor_pos] -48);
+							enc_dif = encoderDiff;
+						}
+
+						if (enc_dif < encoderDiff) {
+							bowden_length[cursor_pos]++;
+							lcd.setCursor(13, cursor_pos);
+							lcd.print(bowden_length[cursor_pos] -48);
+							enc_dif = encoderDiff;
+						}
+					}
+				}
+				delay(100);
+				if (lcd_clicked()) {
+					while (lcd_clicked());
+					delay(10);
+					while (lcd_clicked());
+					EEPROM_save_B(EEPROM_BOWDEN_LENGTH + cursor_pos * 2, &bowden_length[cursor_pos]);
+					if (cursor_pos == 3) return;
+					else {
+						cursor_pos++;
+					}
+				}
+				
+		
+	}
+}
 
-	lcd.setCursor(1, 3);
+char reset_menu() {
+#ifdef SNMM
+	int items_no = 5;
+#else
+	int items_no = 4;
+#endif
+	static int first = 0;
+	int enc_dif = 0;
+	char cursor_pos = 0;
+	const char *item [items_no];
 	
-	lcd_printPGM(PSTR("All data"));
+	item[0] = "Language";
+	item[1] = "Statistics";
+	item[2] = "Shipping prep";
+	item[3] = "All Data";
+#ifdef SNMM
+	item[4] = "Bowden length";
+#endif // SNMM
 
+	enc_dif = encoderDiff;
+	lcd_implementation_clear();
 	lcd.setCursor(0, 0);
-
 	lcd.print(">");
 
+	while (1) {		
 
-	enc_dif = encoderDiff;
-
-	while (1) {
+		for (int i = 0; i < 4; i++) {
+			lcd.setCursor(1, i);
+			lcd.print(item[first + i]);
+		}
 
 		manage_heater();
 		manage_inactivity(true);
@@ -2870,10 +2890,18 @@ char reset_menu() {
 
 				if (cursor_pos > 3) {
 					cursor_pos = 3;
+					if (first < items_no - 4) {
+						first++;
+						lcd_implementation_clear();
+					}
 				}
 
 				if (cursor_pos < 0) {
 					cursor_pos = 0;
+					if (first > 0) {
+						first--;
+						lcd_implementation_clear();
+					}
 				}
 				lcd.setCursor(0, 0);
 				lcd.print(" ");
@@ -2895,7 +2923,7 @@ char reset_menu() {
 			while (lcd_clicked());
 			delay(10);
 			while (lcd_clicked());
-			return(cursor_pos);
+			return(cursor_pos + first);
 		}
 
 	}
@@ -2949,9 +2977,14 @@ void change_extr(int extr) { //switches multiplexer for extruders
 	disable_e1();
 	disable_e2();
 
+#ifdef SNMM
+	snmm_extruder = extr;
+#endif
+
 	pinMode(E_MUX0_PIN, OUTPUT);
 	pinMode(E_MUX1_PIN, OUTPUT);
 	pinMode(E_MUX2_PIN, OUTPUT);
+
 	switch (extr) {
 	case 1:
 		WRITE(E_MUX0_PIN, HIGH);
@@ -2986,6 +3019,15 @@ static int get_ext_nr() { //reads multiplexer input pins and return current extr
 }
 
 
+void display_loading() {
+	switch (snmm_extruder) {
+	case 1: (MSG_FILAMENT_LOADING_T1); break;
+	case 2: lcd_display_message_fullscreen_P(MSG_FILAMENT_LOADING_T2); break;
+	case 3: lcd_display_message_fullscreen_P(MSG_FILAMENT_LOADING_T3); break;
+	default: lcd_display_message_fullscreen_P(MSG_FILAMENT_LOADING_T0); break;
+	}
+}
+
 static void extr_adj(int extruder) //loading filament for SNMM
 {
 	bool correct;
@@ -3012,7 +3054,7 @@ static void extr_adj(int extruder) //loading filament for SNMM
 	//if (!correct) goto	START;
 	//extr_mov(BOWDEN_LENGTH/2.f, 500); //dividing by 2 is there because of max. extrusion length limitation (x_max + y_max)
 	//extr_mov(BOWDEN_LENGTH/2.f, 500);
-	extr_mov(BOWDEN_LENGTH, 500);
+	extr_mov(bowden_length[extruder], 500);
 	lcd_implementation_clear();
 	lcd.setCursor(0, 1); lcd_printPGM(MSG_PLEASE_WAIT);
 	st_synchronize();
@@ -3033,9 +3075,10 @@ static void extr_unload() { //unloads filament
 		lcd_display_message_fullscreen_P(PSTR(""));
 		max_feedrate[E_AXIS] = 50;
 		lcd.setCursor(0, 1); lcd_printPGM(MSG_PLEASE_WAIT);
-		current_position[Z_AXIS] += 15; //lifting in Z direction to make space for extrusion
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 25, active_extruder);
-
+		if (current_position[Z_AXIS] < 15) {
+			current_position[Z_AXIS] += 15; //lifting in Z direction to make space for extrusion
+			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 25, active_extruder);
+		}
 		
 		current_position[E_AXIS] += 10; //extrusion
 		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 10, active_extruder);
@@ -3063,9 +3106,9 @@ static void extr_unload() { //unloads filament
 		}
 	
 		max_feedrate[E_AXIS] = 80;
-		current_position[E_AXIS] -= (BOWDEN_LENGTH + 60 + FIL_LOAD_LENGTH) / 2;   
+		current_position[E_AXIS] -= (bowden_length[snmm_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
 		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
-		current_position[E_AXIS] -= (BOWDEN_LENGTH + 60 + FIL_LOAD_LENGTH) / 2;
+		current_position[E_AXIS] -= (bowden_length[snmm_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
 		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
 		st_synchronize();
 		//digipot_init();
@@ -3112,6 +3155,13 @@ static void extr_adj_3() {
 	extr_adj(3);
 }
 
+static void load_all() {
+	for (int i = 0; i < 4; i++) {
+		change_extr(i);
+		extr_adj(i);
+	}
+}
+
 //wrapper functions for changing extruders
 static void extr_change_0() {
 	change_extr(0);
@@ -3131,13 +3181,27 @@ static void extr_change_3() {
 }
 
 //wrapper functions for unloading filament
-static void extr_unload_all() {
-	for (int i = 0; i < 4; i++) {
-		change_extr(i);
-		extr_unload();
+void extr_unload_all() {
+	if (degHotend0() > EXTRUDE_MINTEMP) {
+		for (int i = 0; i < 4; i++) {
+			change_extr(i);
+			extr_unload();
+		}
+	}
+	else {
+		lcd_implementation_clear();
+		lcd.setCursor(0, 0);
+		lcd_printPGM(MSG_ERROR);
+		lcd.setCursor(0, 2);
+		lcd_printPGM(MSG_PREHEAT_NOZZLE);
+		delay(2000);
+		lcd_implementation_clear();
+		lcd_return_to_status();
 	}
 }
 
+
+
 static void extr_unload_0() {
 	change_extr(0);
 	extr_unload();
@@ -3160,10 +3224,11 @@ static void fil_load_menu()
 {
 	START_MENU();
 	MENU_ITEM(back, MSG_MAIN, lcd_main_menu);
-	MENU_ITEM(function, PSTR("Load filament 1"), extr_adj_0);
-	MENU_ITEM(function, PSTR("Load filament 2 "), extr_adj_1);
-	MENU_ITEM(function, PSTR("Load filament 3"), extr_adj_2);
-	MENU_ITEM(function, PSTR("Load filament 4"), extr_adj_3);
+	MENU_ITEM(function, MSG_LOAD_ALL, load_all);
+	MENU_ITEM(function, MSG_LOAD_FILAMENT_1, extr_adj_0);
+	MENU_ITEM(function, MSG_LOAD_FILAMENT_2, extr_adj_1);
+	MENU_ITEM(function, MSG_LOAD_FILAMENT_3, extr_adj_2);
+	MENU_ITEM(function, MSG_LOAD_FILAMENT_4, extr_adj_3);
 	
 	END_MENU();
 }
@@ -3173,16 +3238,16 @@ static void fil_unload_menu()
 {
 	START_MENU();
 	MENU_ITEM(back, MSG_MAIN, lcd_main_menu);
-	MENU_ITEM(function, PSTR("Unload all"), extr_unload_all);
-	MENU_ITEM(function, PSTR("Unload filament 1"), extr_unload_0);
-	MENU_ITEM(function, PSTR("Unload filament 2"), extr_unload_1);
-	MENU_ITEM(function, PSTR("Unload filament 3"), extr_unload_2);
-	MENU_ITEM(function, PSTR("Unload filament 4"), extr_unload_3);
+	MENU_ITEM(function, MSG_UNLOAD_ALL, extr_unload_all);
+	MENU_ITEM(function, MSG_UNLOAD_FILAMENT_1, extr_unload_0);
+	MENU_ITEM(function, MSG_UNLOAD_FILAMENT_2, extr_unload_1);
+	MENU_ITEM(function, MSG_UNLOAD_FILAMENT_3, extr_unload_2);
+	MENU_ITEM(function, MSG_UNLOAD_FILAMENT_4, extr_unload_3);
 
 	END_MENU();
 }
 
-static void change_extr_menu(){
+/*static void change_extr_menu(){
 	START_MENU();
 	MENU_ITEM(back, MSG_MAIN, lcd_main_menu);
 	MENU_ITEM(function, PSTR("Extruder 1"), extr_change_0);
@@ -3191,7 +3256,7 @@ static void change_extr_menu(){
 	MENU_ITEM(function, PSTR("Extruder 4"), extr_change_3);
 
 	END_MENU();
-}
+}*/
 
 #endif
 
@@ -3459,7 +3524,7 @@ static void lcd_main_menu()
 	#ifdef SNMM
 	MENU_ITEM(submenu, MSG_LOAD_FILAMENT, fil_load_menu);
 	MENU_ITEM(submenu, MSG_UNLOAD_FILAMENT, fil_unload_menu);
-	MENU_ITEM(submenu, MSG_CHANGE_EXTR, change_extr_menu);
+	//MENU_ITEM(submenu, MSG_CHANGE_EXTR, change_extr_menu);
 	#endif
 	MENU_ITEM(submenu, MSG_SETTINGS, lcd_settings_menu);
     if(!isPrintPaused) MENU_ITEM(submenu, MSG_MENU_CALIBRATION, lcd_calibration_menu);
diff --git a/Firmware/ultralcd.h b/Firmware/ultralcd.h
index cd7e18421..8da778296 100644
--- a/Firmware/ultralcd.h
+++ b/Firmware/ultralcd.h
@@ -103,6 +103,10 @@ void lcd_mylang();
   extern int farm_timer;
   extern int farm_status;
 
+#ifdef SNMM
+  extern uint8_t snmm_extruder;
+#endif // SNMM
+
   extern bool cancel_heatup;
   extern bool isPrintPaused;
   
@@ -217,6 +221,8 @@ static void extr_unload_1();
 static void extr_unload_2();
 static void extr_unload_3();
 static void lcd_disable_farm_mode();
+void extr_unload_all();
+static void extr_unload();
 
 void stack_error();
 static void lcd_ping_allert();
@@ -237,10 +243,13 @@ void lcd_extr_cal_reset();
 
 union MenuData;
 
+void bowden_menu();
 char reset_menu();
 
 void lcd_pinda_calibration_menu();
 void lcd_calibrate_pinda();
 void lcd_temp_calibration_set();
 
+void display_loading();
+
 #endif //ULTRALCD_H
\ No newline at end of file
diff --git a/Firmware/ultralcd_implementation_hitachi_HD44780.h b/Firmware/ultralcd_implementation_hitachi_HD44780.h
index d82d023d1..8b1ed3de6 100644
--- a/Firmware/ultralcd_implementation_hitachi_HD44780.h
+++ b/Firmware/ultralcd_implementation_hitachi_HD44780.h
@@ -776,15 +776,17 @@ static void lcd_implementation_status_screen()
         
 	}
 	else {
+#ifdef SNMM
+		lcd_printPGM(PSTR(" E"));
+		lcd.print(get_ext_nr() + 1);
+
+#else
 		lcd.setCursor(LCD_WIDTH - 8 - 2, 2);
 		lcd_printPGM(PSTR(" "));
+#endif
 	}
 
-#ifdef SNMM
-		lcd_printPGM(PSTR(" E"));
-		lcd.print(get_ext_nr()+1);
-	
-#endif
+
 
     //Print time elapsed
     lcd.setCursor(LCD_WIDTH - 8 -1, 2);