diff --git a/Firmware/Marlin.h b/Firmware/Marlin.h
index 8a396dac..7dedc8a4 100755
--- a/Firmware/Marlin.h
+++ b/Firmware/Marlin.h
@@ -296,6 +296,7 @@ void setPwmFrequency(uint8_t pin, int val);
 extern bool fans_check_enabled;
 extern float homing_feedrate[];
 extern bool axis_relative_modes[];
+extern float feedrate;
 extern int feedmultiply;
 extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
 extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
@@ -395,7 +396,7 @@ extern uint16_t gcode_in_progress;
 extern LongTimer safetyTimer;
 
 #define PRINT_PERCENT_DONE_INIT   0xff
-#define PRINTER_ACTIVE (IS_SD_PRINTING || is_usb_printing || isPrintPaused || (custom_message_type == CustomMsg::TempCal) || saved_printing || (lcd_commands_type == LcdCommands::Layer1Cal) || card.paused || mmu_print_saved)
+#define PRINTER_ACTIVE (IS_SD_PRINTING || is_usb_printing || isPrintPaused || (custom_message_type == CustomMsg::TempCal) || saved_printing || (lcd_commands_type == LcdCommands::Layer1Cal) || mmu_print_saved)
 
 //! Beware - mcode_in_progress is set as soon as the command gets really processed,
 //! which is not the same as posting the M600 command into the command queue
diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 204b6b07..fe94fab5 100755
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -309,6 +309,8 @@ bool no_response = false;
 uint8_t important_status;
 uint8_t saved_filament_type;
 
+#define SAVED_TARGET_UNSET (X_MIN_POS-1)
+float saved_target[NUM_AXIS] = {SAVED_TARGET_UNSET, 0, 0, 0};
 
 // save/restore printing in case that mmu was not responding 
 bool mmu_print_saved = false;
@@ -329,7 +331,15 @@ float destination[NUM_AXIS] = {  0.0, 0.0, 0.0, 0.0};
 
 // For tracing an arc
 static float offset[3] = {0.0, 0.0, 0.0};
-static float feedrate = 1500.0, next_feedrate, saved_feedrate;
+
+// Current feedrate
+float feedrate = 1500.0;
+
+// Feedrate for the next move
+static float next_feedrate;
+
+// Original feedrate saved during homing moves
+static float saved_feedrate;
 
 // Determines Absolute or Relative Coordinates.
 // Also there is bool axis_relative_modes[] per axis flag.
@@ -373,8 +383,8 @@ bool saved_printing = false; //!< Print is paused and saved in RAM
 static uint32_t saved_sdpos = 0; //!< SD card position, or line number in case of USB printing
 uint8_t saved_printing_type = PRINTING_TYPE_SD;
 static float saved_pos[4] = { 0, 0, 0, 0 };
-//! Feedrate hopefully derived from an active block of the planner at the time the print has been canceled, in mm/min.
-static float saved_feedrate2 = 0;
+static uint16_t saved_feedrate2 = 0; //!< Default feedrate (truncated from float)
+static int saved_feedmultiply2 = 0;
 static uint8_t saved_active_extruder = 0;
 static float saved_extruder_temperature = 0.0; //!< Active extruder temperature
 static bool saved_extruder_under_pressure = false;
@@ -3655,7 +3665,7 @@ void process_commands()
     
     Set of internal PRUSA commands
       
-          PRUSA [ Ping | PRN | FAN | fn | thx | uvlo | fsensor_recover | MMURES | RESET | fv | M28 | SN | Fir | Rev | Lang | Lz | Beat | FR ]
+          PRUSA [ Ping | PRN | FAN | fn | thx | uvlo | MMURES | RESET | fv | M28 | SN | Fir | Rev | Lang | Lz | Beat | FR ]
       
       - `Ping` 
       - `PRN` - Prints revision of the printer
@@ -3663,7 +3673,6 @@ void process_commands()
       - `fn` - Prints farm no.
       - `thx` 
       - `uvlo` 
-      - `fsensor_recover` - Filament sensor recover - restore print and continue
       - `MMURES` - Reset MMU
       - `RESET` - (Careful!)
       - `fv`  - ?
@@ -3713,12 +3722,6 @@ void process_commands()
                eeprom_update_byte((uint8_t*)EEPROM_UVLO,0); 
                enquecommand_P(PSTR("M24")); 
 		}	
-#ifdef FILAMENT_SENSOR
-		else if (code_seen("fsensor_recover")) // PRUSA fsensor_recover
-		{
-               fsensor_restore_print_and_continue();
-		}	
-#endif //FILAMENT_SENSOR
 		else if (code_seen("MMURES")) // PRUSA MMURES
 		{
 			mmu_reset();
@@ -4043,8 +4046,19 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 
         #endif
 
+            get_coordinates(); // For X Y Z E F
+
+            // When recovering from a previous print move, restore the originally
+            // calculated target position on the first USB/SD command. This accounts
+            // properly for relative moves
+            if ((saved_target[0] != SAVED_TARGET_UNSET) &&
+                ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_SDCARD) ||
+                 (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR)))
+            {
+                memcpy(destination, saved_target, sizeof(destination));
+                saved_target[0] = SAVED_TARGET_UNSET;
+            }
 
-        get_coordinates(); // For X Y Z E F
 		if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow
 			total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100);
 		}
@@ -5363,21 +5377,19 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
       card.openFile(strchr_pointer + 4,true);
       break;
 
-    //! ### M24 - Start SD print
+    //! ### M24 - Start/resume SD print
     // ----------------------------------
     case 24:
-	  if (!card.paused) 
-		failstats_reset_print();
-      card.startFileprint();
-      starttime=_millis();
+	  if (isPrintPaused)
+          lcd_resume_print();
+      else
+      {
+          failstats_reset_print();
+          card.startFileprint();
+          starttime=_millis();
+      }
 	  break;
 
-    //! ### M25 - Pause SD print
-    // ----------------------------------
-    case 25:
-      card.pauseSDPrint();
-      break;
-
     //! ### M26 S\<index\> - Set SD index
     //! Set position in SD card file to index in bytes.
     //! This command is expected to be called after M23 and before M24.
@@ -7232,27 +7244,36 @@ Sigma_Exit:
     break;
     #endif //FILAMENTCHANGEENABLE
 
+  //! ### M25 - Pause SD print
   //! ### M601 - Pause print
+  //! ### M125 - Pause print (TODO: not implemented)
   // -------------------------------
+	case 25:
 	case 601:
 	{
-		cmdqueue_pop_front(); //trick because we want skip this command (M601) after restore
-		lcd_pause_print();
+        if (!isPrintPaused)
+        {
+            st_synchronize();
+            cmdqueue_pop_front(); //trick because we want skip this command (M601) after restore
+            lcd_pause_print();
+        }
 	}
 	break;
 
   //! ### M602 - Resume print
   // -------------------------------
 	case 602: {
-		lcd_resume_print();
+	  if (isPrintPaused)
+          lcd_resume_print();
 	}
 	break;
 
   //! ### M603 - Stop print
   // -------------------------------
-  case 603: {
-		lcd_print_stop();
+	case 603: {
+		Stop();
 	}
+	break;
 
 #ifdef PINDA_THERMISTOR
   //! ### M860 - Wait for extruder temperature (PINDA)
@@ -8338,38 +8359,43 @@ void clamp_to_software_endstops(float target[3])
 }
 
 #ifdef MESH_BED_LEVELING
-    void mesh_plan_buffer_line(const float &x, const float &y, const float &z, const float &e, const float &feed_rate, const uint8_t extruder) {
+void mesh_plan_buffer_line(const float &x, const float &y, const float &z, const float &e, const float &feed_rate, const uint8_t extruder) {
         float dx = x - current_position[X_AXIS];
         float dy = y - current_position[Y_AXIS];
-        float dz = z - current_position[Z_AXIS];
         int n_segments = 0;
-		
+
         if (mbl.active) {
             float len = abs(dx) + abs(dy);
             if (len > 0)
                 // Split to 3cm segments or shorter.
                 n_segments = int(ceil(len / 30.f));
         }
-        
+
         if (n_segments > 1) {
+            // In a multi-segment move explicitly set the final target in the plan
+            // as the move will be recalculated in it's entirety
+            float gcode_target[NUM_AXIS];
+            gcode_target[X_AXIS] = x;
+            gcode_target[Y_AXIS] = y;
+            gcode_target[Z_AXIS] = z;
+            gcode_target[E_AXIS] = e;
+
+            float dz = z - current_position[Z_AXIS];
             float de = e - current_position[E_AXIS];
+
             for (int i = 1; i < n_segments; ++ i) {
                 float t = float(i) / float(n_segments);
-                if (saved_printing || (mbl.active == false)) return;
-                plan_buffer_line(
-                                 current_position[X_AXIS] + t * dx,
+                plan_buffer_line(current_position[X_AXIS] + t * dx,
                                  current_position[Y_AXIS] + t * dy,
                                  current_position[Z_AXIS] + t * dz,
                                  current_position[E_AXIS] + t * de,
-                                 feed_rate, extruder);
+                                 feed_rate, extruder, gcode_target);
+                if (waiting_inside_plan_buffer_line_print_aborted)
+                    return;
             }
         }
         // The rest of the path.
         plan_buffer_line(x, y, z, e, feed_rate, extruder);
-        current_position[X_AXIS] = x;
-        current_position[Y_AXIS] = y;
-        current_position[Z_AXIS] = z;
-        current_position[E_AXIS] = e;
     }
 #endif  // MESH_BED_LEVELING
     
@@ -8389,10 +8415,10 @@ void prepare_move()
      plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply*(1./(60.f*100.f)), active_extruder);
 #endif
   }
+  if (waiting_inside_plan_buffer_line_print_aborted)
+      return;
 
-  for(int8_t i=0; i < NUM_AXIS; i++) {
-    current_position[i] = destination[i];
-  }
+  set_current_to_destination();
 }
 
 void prepare_arc_move(char isclockwise) {
@@ -9113,10 +9139,8 @@ void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_poi
 		destination[X_AXIS] = ix * (x_dimension / (x_points_num - 1)) + shift_x;
 		destination[Y_AXIS] = iy * (y_dimension / (y_points_num - 1)) + shift_y;
 
-		mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], XY_AXIS_FEEDRATE/6, active_extruder);
-		for(int8_t i=0; i < NUM_AXIS; i++) {
-			current_position[i] = destination[i];
-		}
+        mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], XY_AXIS_FEEDRATE/6, active_extruder);
+        set_current_to_destination();
 		st_synchronize();
 
 	//	printf_P(PSTR("X = %f; Y= %f \n"), current_position[X_AXIS], current_position[Y_AXIS]);
@@ -9602,8 +9626,18 @@ void uvlo_()
       if (sd_position < 0) sd_position = 0;
     }
 
-    // Backup the feedrate in mm/min.
-    int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
+    // save the global state at planning time
+    uint16_t feedrate_bckp;
+    if (blocks_queued())
+    {
+        memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
+        feedrate_bckp = current_block->gcode_feedrate;
+    }
+    else
+    {
+        saved_target[0] = SAVED_TARGET_UNSET;
+        feedrate_bckp = feedrate;
+    }
 
     // After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
     // The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
@@ -9670,7 +9704,8 @@ void uvlo_()
     eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
     eeprom_update_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z , current_position[Z_AXIS]);
     // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
-    EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
+	eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDRATE, feedrate_bckp);
+    EEPROM_save_B(EEPROM_UVLO_FEEDMULTIPLY, &feedmultiply);
     eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
     eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
     eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
@@ -9682,6 +9717,11 @@ void uvlo_()
 #endif
 #endif
 	eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
+    // Store the saved target
+    eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4), saved_target[X_AXIS]);
+    eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4), saved_target[Y_AXIS]);
+    eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4), saved_target[Z_AXIS]);
+    eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4), saved_target[E_AXIS]);
 
     // Finaly store the "power outage" flag.
 	if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
@@ -9930,10 +9970,17 @@ void recover_machine_state_after_power_panic(bool bTiny)
 #endif
 #endif
   extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
+
+  // 9) Recover the saved target
+  saved_target[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4));
+  saved_target[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4));
+  saved_target[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4));
+  saved_target[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4));
 }
 
 void restore_print_from_eeprom() {
 	int feedrate_rec;
+	int feedmultiply_rec;
 	uint8_t fan_speed_rec;
 	char cmd[30];
 	char filename[13];
@@ -9941,9 +9988,12 @@ void restore_print_from_eeprom() {
 	char dir_name[9];
 
 	fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
-	EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
+    feedrate_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDRATE);
+	EEPROM_read_B(EEPROM_UVLO_FEEDMULTIPLY, &feedmultiply_rec);
 	SERIAL_ECHOPGM("Feedrate:");
-	MYSERIAL.println(feedrate_rec);
+	MYSERIAL.print(feedrate_rec);
+	SERIAL_ECHOPGM(", feedmultiply:");
+	MYSERIAL.println(feedmultiply_rec);
 
 	depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
 	
@@ -9984,9 +10034,11 @@ void restore_print_from_eeprom() {
 	enquecommand(cmd);
   // Unretract.
 	enquecommand_P(PSTR("G1 E"  STRINGIFY(2*default_retraction)" F480"));
-  // Set the feedrate saved at the power panic.
+  // Set the feedrates saved at the power panic.
 	sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
 	enquecommand(cmd);
+	sprintf_P(cmd, PSTR("M220 S%d"), feedmultiply_rec);
+	enquecommand(cmd);
 	if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
 	{
 	  enquecommand_P(PSTR("M82")); //E axis abslute mode
@@ -10138,16 +10190,21 @@ void stop_and_save_print_to_ram(float z_move, float e_move)
   }
 #endif
 
-#if 0
-  saved_feedrate2 = feedrate; //save feedrate
-#else
-  // Try to deduce the feedrate from the first block of the planner.
-  // Speed is in mm/min.
-  saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
-#endif
+  // save the global state at planning time
+  if (blocks_queued())
+  {
+      memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
+      saved_feedrate2 = current_block->gcode_feedrate;
+  }
+  else
+  {
+      saved_target[0] = SAVED_TARGET_UNSET;
+      saved_feedrate2 = feedrate;
+  }
 
 	planner_abort_hard(); //abort printing
 	memcpy(saved_pos, current_position, sizeof(saved_pos));
+    saved_feedmultiply2 = feedmultiply; //save feedmultiply
 	saved_active_extruder = active_extruder; //save active_extruder
 	saved_extruder_temperature = degTargetHotend(active_extruder);
 
@@ -10225,7 +10282,6 @@ void restore_print_from_ram_and_continue(float e_move)
 		wait_for_heater(_millis(), saved_active_extruder);
 		heating_status = 2;
 	}
-	feedrate = saved_feedrate2; //restore feedrate
 	axis_relative_modes[E_AXIS] = saved_extruder_relative_mode;
 	float e = saved_pos[E_AXIS] - e_move;
 	plan_set_e_position(e);
@@ -10248,6 +10304,10 @@ void restore_print_from_ram_and_continue(float e_move)
     fans_check_enabled = true;
   #endif
 
+    // restore original feedrate/feedmultiply _after_ restoring the extruder position
+	feedrate = saved_feedrate2;
+	feedmultiply = saved_feedmultiply2;
+
 	memcpy(current_position, saved_pos, sizeof(saved_pos));
 	memcpy(destination, current_position, sizeof(destination));
 	if (saved_printing_type == PRINTING_TYPE_SD) { //was sd printing
@@ -10263,10 +10323,12 @@ void restore_print_from_ram_and_continue(float e_move)
 	else {
 		//not sd printing nor usb printing
 	}
+
 	SERIAL_PROTOCOLLNRPGM(MSG_OK); //dummy response because of octoprint is waiting for this
 	lcd_setstatuspgm(_T(WELCOME_MSG));
     saved_printing_type = PRINTING_TYPE_NONE;
 	saved_printing = false;
+    waiting_inside_plan_buffer_line_print_aborted = true; //unroll the stack
 }
 
 void print_world_coordinates()
diff --git a/Firmware/adc.c b/Firmware/adc.c
index 26728cef..3144990d 100644
--- a/Firmware/adc.c
+++ b/Firmware/adc.c
@@ -4,6 +4,7 @@
 #include <stdio.h>
 #include <avr/io.h>
 #include <avr/pgmspace.h>
+#include "pins.h"
 
 uint8_t adc_state;
 uint8_t adc_count;
@@ -24,8 +25,8 @@ void adc_init(void)
 	ADMUX |= (1 << REFS0);
 	ADCSRA |= (1 << ADEN);
 //	ADCSRA |= (1 << ADIF) | (1 << ADSC);
-	DIDR0 = (ADC_CHAN_MSK & 0xff);
-	DIDR2 = (ADC_CHAN_MSK >> 8);
+	DIDR0 = ((ADC_CHAN_MSK & ADC_DIDR_MSK) & 0xff);
+	DIDR2 = ((ADC_CHAN_MSK & ADC_DIDR_MSK) >> 8);
 	adc_reset();
 //	adc_sim_mask = 0b0101;
 //	adc_sim_mask = 0b100101;
diff --git a/Firmware/cardreader.cpp b/Firmware/cardreader.cpp
index d925f2cb..7d22874b 100644
--- a/Firmware/cardreader.cpp
+++ b/Firmware/cardreader.cpp
@@ -25,7 +25,6 @@ CardReader::CardReader()
    sdpos = 0;
    sdprinting = false;
    cardOK = false;
-   paused = false;
    saving = false;
    logging = false;
    autostart_atmillis=0;
@@ -242,24 +241,13 @@ void CardReader::startFileprint()
   if(cardOK)
   {
     sdprinting = true;
-	paused = false;
-     Stopped = false;
+    Stopped = false;
 	#ifdef SDCARD_SORT_ALPHA
 		//flush_presort();
 	#endif
   }
 }
 
-void CardReader::pauseSDPrint()
-{
-  if(sdprinting)
-  {
-    sdprinting = false;
-	paused = true;
-  }
-}
-
-
 void CardReader::openLogFile(const char* name)
 {
   logging = true;
@@ -408,9 +396,7 @@ void CardReader::openFile(const char* name,bool read, bool replace_current/*=tru
     SERIAL_ECHOLN(name);
   }
   sdprinting = false;
-  paused = false;
-  
- 
+
   SdFile myDir;
   const char *fname=name;
   diveSubfolder(fname,myDir);
@@ -492,24 +478,27 @@ uint32_t CardReader::getFileSize()
 
 void CardReader::getStatus()
 {
-  if(sdprinting){
-    SERIAL_PROTOCOL(longFilename);
-    SERIAL_PROTOCOLPGM("\n");
-    SERIAL_PROTOCOLRPGM(_N("SD printing byte "));////MSG_SD_PRINTING_BYTE
-    SERIAL_PROTOCOL(sdpos);
-    SERIAL_PROTOCOLPGM("/");
-    SERIAL_PROTOCOLLN(filesize);
-    uint16_t time = _millis()/60000 - starttime/60000;
-    SERIAL_PROTOCOL(itostr2(time/60));
-    SERIAL_PROTOCOL(':');
-    SERIAL_PROTOCOL(itostr2(time%60));
-    SERIAL_PROTOCOLPGM("\n");
-  }
-  else if (paused) {
-	SERIAL_PROTOCOLLNPGM("SD print paused");
-  }
-  else if (saved_printing) {
-	SERIAL_PROTOCOLLNPGM("Print saved");
+  if(sdprinting)
+  {
+      if (isPrintPaused) {
+          SERIAL_PROTOCOLLNPGM("SD print paused");
+      }
+      else if (saved_printing) {
+          SERIAL_PROTOCOLLNPGM("Print saved");
+      }
+      else {
+          SERIAL_PROTOCOL(longFilename);
+          SERIAL_PROTOCOLPGM("\n");
+          SERIAL_PROTOCOLRPGM(_N("SD printing byte "));////MSG_SD_PRINTING_BYTE
+          SERIAL_PROTOCOL(sdpos);
+          SERIAL_PROTOCOLPGM("/");
+          SERIAL_PROTOCOLLN(filesize);
+          uint16_t time = _millis()/60000 - starttime/60000;
+          SERIAL_PROTOCOL(itostr2(time/60));
+          SERIAL_PROTOCOL(':');
+          SERIAL_PROTOCOL(itostr2(time%60));
+          SERIAL_PROTOCOLPGM("\n");
+      }
   }
   else {
     SERIAL_PROTOCOLLNPGM("Not SD printing");
diff --git a/Firmware/cardreader.h b/Firmware/cardreader.h
index b7df8ff4..9a7d0f69 100644
--- a/Firmware/cardreader.h
+++ b/Firmware/cardreader.h
@@ -25,7 +25,6 @@ public:
   void closefile(bool store_location=false);
   void release();
   void startFileprint();
-  void pauseSDPrint();
   uint32_t getFileSize();
   void getStatus();
   void printingHasFinished();
@@ -75,7 +74,6 @@ public:
   bool logging;
   bool sdprinting ;  
   bool cardOK ;
-  bool paused ;
   char filename[13];
   uint16_t modificationTime, modificationDate;
   uint32_t cluster, position;
diff --git a/Firmware/cmdqueue.cpp b/Firmware/cmdqueue.cpp
index 74a8b90a..e17db42a 100755
--- a/Firmware/cmdqueue.cpp
+++ b/Firmware/cmdqueue.cpp
@@ -582,30 +582,8 @@ void get_command()
        ((serial_char == '#' || serial_char == ':') && comment_mode == false) ||
        serial_count >= (MAX_CMD_SIZE - 1) || n==-1)
     {
-      if(card.eof()){
-        SERIAL_PROTOCOLLNRPGM(_n("Done printing file"));////MSG_FILE_PRINTED
-        stoptime=_millis();
-        char time[30];
-        unsigned long t=(stoptime-starttime-pause_time)/1000;
-        pause_time = 0;
-        int hours, minutes;
-        minutes=(t/60)%60;
-        hours=t/60/60;
-        save_statistics(total_filament_used, t);
-        sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
-        SERIAL_ECHO_START;
-        SERIAL_ECHOLN(time);
-        lcd_setstatus(time);
-        card.printingHasFinished();
-        card.checkautostart(true);
+      if(card.eof()) break;
 
-        if (farm_mode)
-        {
-            prusa_statistics(6);
-            lcd_commands_type = LcdCommands::FarmModeConfirm;
-        }
-
-      }
       if(serial_char=='#')
         stop_buffering=true;
 
@@ -663,6 +641,37 @@ void get_command()
       else if(!comment_mode) cmdbuffer[bufindw+CMDHDRSIZE+serial_count++] = serial_char;
     }
   }
+  if(card.eof())
+  {
+      // file was fully buffered, but commands might still need to be planned!
+      // do *not* clear sdprinting until all SD commands are consumed to ensure
+      // SD state can be resumed from a saved printing state. sdprinting is only
+      // cleared by printingHasFinished after peforming all remaining moves.
+      if(!cmdqueue_calc_sd_length())
+      {
+          SERIAL_PROTOCOLLNRPGM(_n("Done printing file"));////MSG_FILE_PRINTED
+          stoptime=_millis();
+          char time[30];
+          unsigned long t=(stoptime-starttime-pause_time)/1000;
+          pause_time = 0;
+          int hours, minutes;
+          minutes=(t/60)%60;
+          hours=t/60/60;
+          save_statistics(total_filament_used, t);
+          sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
+          SERIAL_ECHO_START;
+          SERIAL_ECHOLN(time);
+          lcd_setstatus(time);
+          card.printingHasFinished();
+          card.checkautostart(true);
+
+          if (farm_mode)
+          {
+              prusa_statistics(6);
+              lcd_commands_type = LcdCommands::FarmModeConfirm;
+          }
+      }
+  }
 
   #endif //SDSUPPORT
 }
diff --git a/Firmware/config.h b/Firmware/config.h
index 0473c3ff..241a2f20 100644
--- a/Firmware/config.h
+++ b/Firmware/config.h
@@ -2,9 +2,21 @@
 #define _CONFIG_H
 
 
+#include "Configuration_prusa.h"
+#include "pins.h"
+
+#define IR_SENSOR_ANALOG (defined(VOLT_IR_PIN) && defined(IR_SENSOR))
+
 //ADC configuration
+#if !IR_SENSOR_ANALOG
 #define ADC_CHAN_MSK      0b0000001001011111 //used AD channels bit mask (0,1,2,3,4,6,9)
+#define ADC_DIDR_MSK      0b0000001001011111 //AD channels DIDR mask (1 ~ disabled digital input)
 #define ADC_CHAN_CNT      7         //number of used channels)
+#else //!IR_SENSOR_ANALOG
+#define ADC_CHAN_MSK      0b0000001101011111 //used AD channels bit mask (0,1,2,3,4,6,8,9)
+#define ADC_DIDR_MSK      0b0000001001011111 //AD channels DIDR mask (1 ~ disabled digital input)
+#define ADC_CHAN_CNT      8         //number of used channels)
+#endif //!IR_SENSOR_ANALOG
 #define ADC_OVRSAMPL      16        //oversampling multiplier
 #define ADC_CALLBACK      adc_ready //callback function ()
 
@@ -42,11 +54,8 @@
 #define W25X20CL_SPCR          SPI_SPCR(W25X20CL_SPI_RATE, 1, 1, 1, 0)
 #define W25X20CL_SPSR          SPI_SPSR(W25X20CL_SPI_RATE)
 
-#include "boards.h"
-#include "Configuration_prusa.h"
-
 //LANG - Multi-language support
-//#define LANG_MODE              0 // primary language only
+//define LANG_MODE              0 // primary language only
 #define LANG_MODE              1 // sec. language support
 
 #define LANG_SIZE_RESERVED     0x3000 // reserved space for secondary language (12288 bytes)
diff --git a/Firmware/eeprom.h b/Firmware/eeprom.h
index 197c18c2..12a31d3c 100644
--- a/Firmware/eeprom.h
+++ b/Firmware/eeprom.h
@@ -74,7 +74,7 @@ static_assert(sizeof(Sheets) == EEPROM_SHEETS_SIZEOF, "Sizeof(Sheets) is not EEP
 #define EEPROM_UVLO_CURRENT_POSITION_Z	(EEPROM_FILE_POSITION - 4) //float for current position in Z
 #define EEPROM_UVLO_TARGET_HOTEND		(EEPROM_UVLO_CURRENT_POSITION_Z - 1)
 #define EEPROM_UVLO_TARGET_BED			(EEPROM_UVLO_TARGET_HOTEND - 1)
-#define EEPROM_UVLO_FEEDRATE			(EEPROM_UVLO_TARGET_BED - 2)
+#define EEPROM_UVLO_FEEDRATE			(EEPROM_UVLO_TARGET_BED - 2) //uint16_t
 #define EEPROM_UVLO_FAN_SPEED			(EEPROM_UVLO_FEEDRATE - 1) 
 #define EEPROM_FAN_CHECK_ENABLED		(EEPROM_UVLO_FAN_SPEED - 1)
 #define EEPROM_UVLO_MESH_BED_LEVELING     (EEPROM_FAN_CHECK_ENABLED - 9*2)
@@ -201,9 +201,14 @@ static_assert(sizeof(Sheets) == EEPROM_SHEETS_SIZEOF, "Sizeof(Sheets) is not EEP
 #define EEPROM_SHEETS_BASE (EEPROM_CHECK_GCODE - EEPROM_SHEETS_SIZEOF) // Sheets
 static Sheets * const EEPROM_Sheets_base = (Sheets*)(EEPROM_SHEETS_BASE);
 
+#define EEPROM_FSENSOR_PCB (EEPROM_SHEETS_BASE-1) // uint8
+#define EEPROM_FSENSOR_ACTION_NA (EEPROM_FSENSOR_PCB-1) // uint8
+
+#define EEPROM_UVLO_SAVED_TARGET (EEPROM_FSENSOR_ACTION_NA - 4*4) // 4 x float for saved target for all axes
+#define EEPROM_UVLO_FEEDMULTIPLY (EEPROM_UVLO_SAVED_TARGET - 2) // uint16_t for feedmultiply
 
 //This is supposed to point to last item to allow EEPROM overrun check. Please update when adding new items.
-#define EEPROM_LAST_ITEM EEPROM_SHEETS_BASE
+#define EEPROM_LAST_ITEM EEPROM_UVLO_FEEDMULTIPLY
 // !!!!!
 // !!!!! this is end of EEPROM section ... all updates MUST BE inserted before this mark !!!!!
 // !!!!!
diff --git a/Firmware/fsensor.cpp b/Firmware/fsensor.cpp
index f20f647d..1c28d025 100755
--- a/Firmware/fsensor.cpp
+++ b/Firmware/fsensor.cpp
@@ -15,6 +15,10 @@
 #include "mmu.h"
 #include "cardreader.h"
 
+#include "adc.h"
+#include "temperature.h"
+#include "config.h"
+
 //! @name Basic parameters
 //! @{
 #define FSENSOR_CHUNK_LEN    0.64F  //!< filament sensor chunk length 0.64mm
@@ -53,15 +57,8 @@ bool fsensor_enabled = true;
 bool fsensor_watch_runout = true;
 //! not responding - is set if any communication error occurred during initialization or readout
 bool fsensor_not_responding = false;
-//! printing saved
-bool fsensor_printing_saved = false;
 //! enable/disable quality meassurement
 bool fsensor_oq_meassure_enabled = false;
-//! as explained in the CHECK_FSENSOR macro: this flag is set to true when fsensor posts
-//! the M600 into the command queue, which elliminates the hazard of having posted multiple M600's
-//! before the first one gets read and started processing.
-//! Btw., the IR fsensor could do up to 6 posts before the command queue managed to start processing the first M600 ;)
-static bool fsensor_m600_enqueued = false;
 
 //! number of errors, updated in ISR
 uint8_t fsensor_err_cnt = 0;
@@ -117,6 +114,13 @@ int16_t fsensor_oq_yd_max;
 uint16_t fsensor_oq_sh_sum;
 //! @}
 
+#if IR_SENSOR_ANALOG
+ClFsensorPCB oFsensorPCB;
+ClFsensorActionNA oFsensorActionNA;
+bool bIRsensorStateFlag=false;
+unsigned long nIRsensorLastTime;
+#endif //IR_SENSOR_ANALOG
+
 void fsensor_stop_and_save_print(void)
 {
     printf_P(PSTR("fsensor_stop_and_save_print\n"));
@@ -126,20 +130,28 @@ void fsensor_stop_and_save_print(void)
 void fsensor_restore_print_and_continue(void)
 {
     printf_P(PSTR("fsensor_restore_print_and_continue\n"));
-	fsensor_watch_runout = true;
 	fsensor_err_cnt = 0;
-	fsensor_m600_enqueued = false;
     restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
 }
 
+// fsensor_checkpoint_print cuts the current print job at the current position,
+// allowing new instructions to be inserted in the middle
+void fsensor_checkpoint_print(void)
+{
+    printf_P(PSTR("fsensor_checkpoint_print\n"));
+    stop_and_save_print_to_ram(0, 0);
+    restore_print_from_ram_and_continue(0);
+}
+
 void fsensor_init(void)
 {
 #ifdef PAT9125
 	uint8_t pat9125 = pat9125_init();
-    printf_P(PSTR("PAT9125_init:%hhu\n"), pat9125);
+     printf_P(PSTR("PAT9125_init:%hhu\n"), pat9125);
 #endif //PAT9125
 	uint8_t fsensor = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
 	fsensor_autoload_enabled=eeprom_read_byte((uint8_t*)EEPROM_FSENS_AUTOLOAD_ENABLED);
+     fsensor_not_responding = false;
 #ifdef PAT9125
 	uint8_t oq_meassure_enabled = eeprom_read_byte((uint8_t*)EEPROM_FSENS_OQ_MEASS_ENABLED);
 	fsensor_oq_meassure_enabled = (oq_meassure_enabled == 1)?true:false;
@@ -150,19 +162,27 @@ void fsensor_init(void)
 		fsensor = 0; //disable sensor
 		fsensor_not_responding = true;
 	}
-	else
-		fsensor_not_responding = false;
 #endif //PAT9125
+#if IR_SENSOR_ANALOG
+     bIRsensorStateFlag=false;
+     oFsensorPCB=(ClFsensorPCB)eeprom_read_byte((uint8_t*)EEPROM_FSENSOR_PCB);
+     oFsensorActionNA=(ClFsensorActionNA)eeprom_read_byte((uint8_t*)EEPROM_FSENSOR_ACTION_NA);
+#endif //IR_SENSOR_ANALOG
 	if (fsensor)
-		fsensor_enable();
+		fsensor_enable(false);                  // (in this case) EEPROM update is not necessary
 	else
-		fsensor_disable();
-	printf_P(PSTR("FSensor %S\n"), (fsensor_enabled?PSTR("ENABLED"):PSTR("DISABLED\n")));
+		fsensor_disable(false);                 // (in this case) EEPROM update is not necessary
+	printf_P(PSTR("FSensor %S"), (fsensor_enabled?PSTR("ENABLED"):PSTR("DISABLED")));
+#if IR_SENSOR_ANALOG
+     printf_P(PSTR(" (sensor board revision: %S)\n"),(oFsensorPCB==ClFsensorPCB::_Rev03b)?PSTR("03b or newer"):PSTR("03 or older"));
+#else //IR_SENSOR_ANALOG
+     printf_P(PSTR("\n"));
+#endif //IR_SENSOR_ANALOG
 	if (check_for_ir_sensor()) ir_sensor_detected = true;
 
 }
 
-bool fsensor_enable(void)
+bool fsensor_enable(bool bUpdateEEPROM)
 {
 #ifdef PAT9125
 	if (mmu_enabled == false) { //filament sensor is pat9125, enable only if it is working
@@ -187,18 +207,34 @@ bool fsensor_enable(void)
 		FSensorStateMenu = 1;
 	}
 #else // PAT9125
-	fsensor_enabled = true;
-	eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, 0x01);
-	FSensorStateMenu = 1;
-#endif // PAT9125
+#if IR_SENSOR_ANALOG
+     if(!fsensor_IR_check())
+          {
+          bUpdateEEPROM=true;
+          fsensor_enabled=false;
+          fsensor_not_responding=true;
+          FSensorStateMenu=0;
+          }
+     else {
+#endif //IR_SENSOR_ANALOG
+     fsensor_enabled=true;
+     fsensor_not_responding=false;
+     FSensorStateMenu=1;
+#if IR_SENSOR_ANALOG
+          }
+#endif //IR_SENSOR_ANALOG
+     if(bUpdateEEPROM)
+          eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, FSensorStateMenu);
+#endif //PAT9125
 	return fsensor_enabled;
 }
 
-void fsensor_disable(void)
-{
+void fsensor_disable(bool bUpdateEEPROM)
+{ 
 	fsensor_enabled = false;
-	eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, 0x00); 
 	FSensorStateMenu = 0;
+     if(bUpdateEEPROM)
+          eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, 0x00); 
 }
 
 void fsensor_autoload_set(bool State)
@@ -529,8 +565,6 @@ void fsensor_enque_M600(){
 	printf_P(PSTR("fsensor_update - M600\n"));
 	eeprom_update_byte((uint8_t*)EEPROM_FERROR_COUNT, eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) + 1);
 	eeprom_update_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) + 1);
-	enquecommand_front_P(PSTR("PRUSA fsensor_recover"));
-	fsensor_m600_enqueued = true;
 	enquecommand_front_P((PSTR("M600")));
 }
 
@@ -542,7 +576,7 @@ void fsensor_enque_M600(){
 void fsensor_update(void)
 {
 #ifdef PAT9125
-		if (fsensor_enabled && fsensor_watch_runout && (fsensor_err_cnt > FSENSOR_ERR_MAX) && ( ! fsensor_m600_enqueued) )
+		if (fsensor_enabled && fsensor_watch_runout && (fsensor_err_cnt > FSENSOR_ERR_MAX))
 		{
 			bool autoload_enabled_tmp = fsensor_autoload_enabled;
 			fsensor_autoload_enabled = false;
@@ -575,24 +609,86 @@ void fsensor_update(void)
 			err |= (fsensor_oq_er_sum > 2);
 			err |= (fsensor_oq_yd_sum < (4 * FSENSOR_OQ_MIN_YD));
 
-			if (!err)
-			{
-				printf_P(PSTR("fsensor_err_cnt = 0\n"));
-				fsensor_restore_print_and_continue();
-			}
-			else
-			{
-				fsensor_enque_M600();
-				fsensor_watch_runout = false;
-			}
+            fsensor_restore_print_and_continue();
 			fsensor_autoload_enabled = autoload_enabled_tmp;
 			fsensor_oq_meassure_enabled = oq_meassure_enabled_tmp;
+
+			if (!err)
+				printf_P(PSTR("fsensor_err_cnt = 0\n"));
+			else
+				fsensor_enque_M600();
 		}
 #else //PAT9125
-		if ((digitalRead(IR_SENSOR_PIN) == 1) && CHECK_FSENSOR && fsensor_enabled && ir_sensor_detected && ( ! fsensor_m600_enqueued) )
-		{
-			fsensor_stop_and_save_print();
-			fsensor_enque_M600();
+		if (CHECK_FSENSOR && fsensor_enabled && ir_sensor_detected)
+        {
+               if(digitalRead(IR_SENSOR_PIN))
+               {                                  // IR_SENSOR_PIN ~ H
+#if IR_SENSOR_ANALOG
+                    if(!bIRsensorStateFlag)
+                    {
+                         bIRsensorStateFlag=true;
+                         nIRsensorLastTime=_millis();
+                    }
+                    else
+                    {
+                         if((_millis()-nIRsensorLastTime)>IR_SENSOR_STEADY)
+                         {
+                              uint8_t nMUX1,nMUX2;
+                              uint16_t nADC;
+                              bIRsensorStateFlag=false;
+                              // sequence for direct data reading from AD converter
+                              DISABLE_TEMPERATURE_INTERRUPT();
+                              nMUX1=ADMUX;        // ADMUX saving
+                              nMUX2=ADCSRB;
+                              adc_setmux(VOLT_IR_PIN);
+                              ADCSRA|=(1<<ADSC);  // first conversion after ADMUX change discarded (preventively)
+                              while(ADCSRA&(1<<ADSC))
+                                   ;
+                              ADCSRA|=(1<<ADSC);  // second conversion used
+                              while(ADCSRA&(1<<ADSC))
+                                   ;
+                              nADC=ADC;
+                              ADMUX=nMUX1;        // ADMUX restoring
+                              ADCSRB=nMUX2;
+                              ENABLE_TEMPERATURE_INTERRUPT();
+                              // end of sequence for ...
+                              if((oFsensorPCB==ClFsensorPCB::_Rev03b)&&((nADC*OVERSAMPLENR)>((int)IRsensor_Hopen_TRESHOLD)))
+                              {
+                                   fsensor_disable();
+                                   fsensor_not_responding = true;
+                                   printf_P(PSTR("IR sensor not responding (%d)!\n"),1);
+                                   if((ClFsensorActionNA)eeprom_read_byte((uint8_t*)EEPROM_FSENSOR_ACTION_NA)==ClFsensorActionNA::_Pause)
+                                   if(oFsensorActionNA==ClFsensorActionNA::_Pause)
+                                        lcd_pause_print();
+                              }
+                              else
+                              {
+#endif //IR_SENSOR_ANALOG
+                                  fsensor_checkpoint_print();
+                                  fsensor_enque_M600();
+#if IR_SENSOR_ANALOG
+                              }
+                         }
+                    }
+               }
+               else
+               {                                  // IR_SENSOR_PIN ~ L
+                    bIRsensorStateFlag=false;
+#endif //IR_SENSOR_ANALOG
+               }
 		}
 #endif //PAT9125
 }
+
+#if IR_SENSOR_ANALOG
+bool fsensor_IR_check()
+{
+uint16_t volt_IR_int;
+bool bCheckResult;
+
+volt_IR_int=current_voltage_raw_IR;
+bCheckResult=(volt_IR_int<((int)IRsensor_Lmax_TRESHOLD))||(volt_IR_int>((int)IRsensor_Hmin_TRESHOLD));
+bCheckResult=bCheckResult&&(!((oFsensorPCB==ClFsensorPCB::_Rev03b)&&(volt_IR_int>((int)IRsensor_Hopen_TRESHOLD))));
+return(bCheckResult);
+}
+#endif //IR_SENSOR_ANALOG
diff --git a/Firmware/fsensor.h b/Firmware/fsensor.h
index fa7ab585..aa4963af 100755
--- a/Firmware/fsensor.h
+++ b/Firmware/fsensor.h
@@ -3,6 +3,7 @@
 #define FSENSOR_H
 
 #include <inttypes.h>
+#include "config.h"
 
 
 //! minimum meassured chunk length in steps
@@ -20,6 +21,8 @@ extern bool fsensor_oq_meassure_enabled;
 extern void fsensor_stop_and_save_print(void);
 //! restore print - restore position and heatup to original temperature
 extern void fsensor_restore_print_and_continue(void);
+//! split the current gcode stream to insert new instructions
+extern void fsensor_checkpoint_print(void);
 //! @}
 
 //! initialize
@@ -27,8 +30,8 @@ extern void fsensor_init(void);
 
 //! @name enable/disable
 //! @{
-extern bool fsensor_enable(void);
-extern void fsensor_disable(void);
+extern bool fsensor_enable(bool bUpdateEEPROM=true);
+extern void fsensor_disable(bool bUpdateEEPROM=true);
 //! @}
 
 //autoload feature enabled
@@ -65,4 +68,28 @@ extern void fsensor_st_block_begin(block_t* bl);
 extern void fsensor_st_block_chunk(block_t* bl, int cnt);
 //! @}
 
+
+#if IR_SENSOR_ANALOG
+#define IR_SENSOR_STEADY 10                       // [ms]
+
+enum class ClFsensorPCB:uint_least8_t
+{
+    _Old=0,
+    _Rev03b=1,
+    _Undef=EEPROM_EMPTY_VALUE
+};
+
+enum class ClFsensorActionNA:uint_least8_t
+{
+    _Continue=0,
+    _Pause=1,
+    _Undef=EEPROM_EMPTY_VALUE
+};
+
+extern ClFsensorPCB oFsensorPCB;
+extern ClFsensorActionNA oFsensorActionNA;
+
+extern bool fsensor_IR_check();
+#endif //IR_SENSOR_ANALOG
+
 #endif //FSENSOR_H
diff --git a/Firmware/messages.c b/Firmware/messages.c
index f38c2939..bb2e9510 100644
--- a/Firmware/messages.c
+++ b/Firmware/messages.c
@@ -128,6 +128,9 @@ const char MSG_SOUND_BLIND[] PROGMEM_I1 = ISTR("Assist"); ////
 const char MSG_MESH[] PROGMEM_I1 = ISTR("Mesh"); ////
 const char MSG_Z_PROBE_NR[] PROGMEM_I1 = ISTR("Z-probe nr."); ////
 const char MSG_MAGNETS_COMP[] PROGMEM_I1 = ISTR("Magnets comp."); ////
+const char MSG_FS_ACTION[] PROGMEM_I1 = ISTR("FS Action"); ////
+const char MSG_FS_CONTINUE[] PROGMEM_I1 = ISTR("Cont."); ////
+const char MSG_FS_PAUSE[] PROGMEM_I1 = ISTR("Pause"); ////
 
 //not internationalized messages
 const char MSG_SD_WORKDIR_FAIL[] PROGMEM_N1 = "workDir open failed"; ////
diff --git a/Firmware/messages.h b/Firmware/messages.h
index 30671533..60a4cc1c 100644
--- a/Firmware/messages.h
+++ b/Firmware/messages.h
@@ -128,6 +128,9 @@ extern const char MSG_SOUND_BLIND[];
 extern const char MSG_MESH[];
 extern const char MSG_Z_PROBE_NR[];
 extern const char MSG_MAGNETS_COMP[];
+extern const char MSG_FS_ACTION[];
+extern const char MSG_FS_CONTINUE[];
+extern const char MSG_FS_PAUSE[];
 
 //not internationalized messages
 extern const char MSG_BROWNOUT_RESET[];
diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp
index c9ca9cb6..f1515d98 100755
--- a/Firmware/mmu.cpp
+++ b/Firmware/mmu.cpp
@@ -382,8 +382,7 @@ void mmu_loop(void)
 			FDEBUG_PRINTF_P(PSTR("MMU => '%dok'\n"), mmu_finda);
 			//printf_P(PSTR("Eact: %d\n"), int(e_active()));
 			if (!mmu_finda && CHECK_FSENSOR && fsensor_enabled) {
-				fsensor_stop_and_save_print();
-				enquecommand_front_P(PSTR("PRUSA fsensor_recover")); //then recover
+				fsensor_checkpoint_print();
 				ad_markDepleted(mmu_extruder);
 				if (lcd_autoDepleteEnabled() && !ad_allDepleted())
 				{
diff --git a/Firmware/pins_Einsy_1_0.h b/Firmware/pins_Einsy_1_0.h
index 33363388..1ea69a40 100755
--- a/Firmware/pins_Einsy_1_0.h
+++ b/Firmware/pins_Einsy_1_0.h
@@ -71,12 +71,13 @@
 #define HEATER_2_PIN        -1
 #define TEMP_2_PIN          -1
 
-#define TEMP_AMBIENT_PIN     5 //A5
+#define TEMP_AMBIENT_PIN     6 //A6
 
 #define TEMP_PINDA_PIN       3 //A3
 
 #define VOLT_PWR_PIN         4 //A4
 #define VOLT_BED_PIN         9 //A9
+#define VOLT_IR_PIN          8 //A8
 
 
 #define E0_TMC2130_CS       66
diff --git a/Firmware/planner.cpp b/Firmware/planner.cpp
index 752d0725..0ccf54f8 100644
--- a/Firmware/planner.cpp
+++ b/Firmware/planner.cpp
@@ -659,15 +659,15 @@ float junction_deviation = 0.1;
 // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in 
 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
 // calculation the caller must also provide the physical length of the line in millimeters.
-void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder)
+void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder, const float* gcode_target)
 {
     // Calculate the buffer head after we push this byte
   int next_buffer_head = next_block_index(block_buffer_head);
 
   // If the buffer is full: good! That means we are well ahead of the robot. 
   // Rest here until there is room in the buffer.
+  waiting_inside_plan_buffer_line_print_aborted = false;
   if (block_buffer_tail == next_buffer_head) {
-      waiting_inside_plan_buffer_line_print_aborted = false;
       do {
           manage_heater(); 
           // Vojtech: Don't disable motors inside the planner!
@@ -687,6 +687,29 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
   planner_update_queue_min_counter();
 #endif /* PLANNER_DIAGNOSTICS */
 
+  // Prepare to set up new block
+  block_t *block = &block_buffer[block_buffer_head];
+
+  // Mark block as not busy (Not executed by the stepper interrupt, could be still tinkered with.)
+  block->busy = false;
+
+  // Set sdlen for calculating sd position
+  block->sdlen = 0;
+
+  // Save original destination of the move
+  if (gcode_target)
+      memcpy(block->gcode_target, gcode_target, sizeof(block_t::gcode_target));
+  else
+  {
+      block->gcode_target[X_AXIS] = x;
+      block->gcode_target[Y_AXIS] = y;
+      block->gcode_target[Z_AXIS] = z;
+      block->gcode_target[E_AXIS] = e;
+  }
+
+  // Save the global feedrate at scheduling time
+  block->gcode_feedrate = feedrate;
+
 #ifdef ENABLE_AUTO_BED_LEVELING
   apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
 #endif // ENABLE_AUTO_BED_LEVELING
@@ -786,15 +809,6 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
   }
   #endif
 
-  // Prepare to set up new block
-  block_t *block = &block_buffer[block_buffer_head];
-
-  // Set sdlen for calculating sd position
-  block->sdlen = 0;
-
-  // Mark block as not busy (Not executed by the stepper interrupt, could be still tinkered with.)
-  block->busy = false;
-
   // Number of steps for each axis
 #ifndef COREXY
 // default non-h-bot planning
diff --git a/Firmware/planner.h b/Firmware/planner.h
index 7904c45a..0d0cb41a 100644
--- a/Firmware/planner.h
+++ b/Firmware/planner.h
@@ -116,7 +116,10 @@ typedef struct {
   unsigned long abs_adv_steps_multiplier8; // Factorised by 2^8 to avoid float
 #endif
 
-  uint16_t sdlen;
+  // Save/recovery state data
+  float gcode_target[NUM_AXIS];     // Target (abs mm) of the original Gcode instruction
+  uint16_t gcode_feedrate;          // Default and/or move feedrate
+  uint16_t sdlen;                   // Length of the Gcode instruction
 } block_t;
 
 #ifdef LIN_ADVANCE
@@ -147,7 +150,7 @@ vector_3 plan_get_position();
 /// The performance penalty is negligible, since these planned lines are usually maintenance moves with the extruder.
 void plan_buffer_line_curposXYZE(float feed_rate, uint8_t extruder);
 
-void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder);
+void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder, const float* gcode_target = NULL);
 //void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
 #endif // ENABLE_AUTO_BED_LEVELING
 
@@ -238,6 +241,7 @@ FORCE_INLINE bool planner_queue_full() {
 // wait for the steppers to stop,
 // update planner's current position and the current_position of the front end.
 extern void planner_abort_hard();
+extern bool waiting_inside_plan_buffer_line_print_aborted;
 
 #ifdef PREVENT_DANGEROUS_EXTRUDE
 void set_extrude_min_temp(float temp);
diff --git a/Firmware/temperature.cpp b/Firmware/temperature.cpp
index cde7cd88..a9373a54 100755
--- a/Firmware/temperature.cpp
+++ b/Firmware/temperature.cpp
@@ -44,6 +44,8 @@
 #include "Timer.h"
 #include "Configuration_prusa.h"
 
+#include "config.h"
+
 //===========================================================================
 //=============================public variables============================
 //===========================================================================
@@ -71,6 +73,10 @@ int current_voltage_raw_pwr = 0;
 int current_voltage_raw_bed = 0;
 #endif
 
+#if IR_SENSOR_ANALOG
+int current_voltage_raw_IR = 0;
+#endif //IR_SENSOR_ANALOG
+
 int current_temperature_bed_raw = 0;
 float current_temperature_bed = 0.0;
   
@@ -1576,11 +1582,14 @@ void adc_ready(void) //callback from adc when sampling finished
 	current_voltage_raw_pwr = adc_values[ADC_PIN_IDX(VOLT_PWR_PIN)];
 #endif
 #ifdef AMBIENT_THERMISTOR
-	current_temperature_raw_ambient = adc_values[ADC_PIN_IDX(TEMP_AMBIENT_PIN)];
+	current_temperature_raw_ambient = adc_values[ADC_PIN_IDX(TEMP_AMBIENT_PIN)]; // 5->6
 #endif //AMBIENT_THERMISTOR
 #ifdef VOLT_BED_PIN
 	current_voltage_raw_bed = adc_values[ADC_PIN_IDX(VOLT_BED_PIN)]; // 6->9
 #endif
+#if IR_SENSOR_ANALOG
+     current_voltage_raw_IR = adc_values[ADC_PIN_IDX(VOLT_IR_PIN)];
+#endif //IR_SENSOR_ANALOG
 	temp_meas_ready = true;
 }
 
diff --git a/Firmware/temperature.h b/Firmware/temperature.h
index 7c40eae6..acbb2793 100755
--- a/Firmware/temperature.h
+++ b/Firmware/temperature.h
@@ -27,6 +27,8 @@
   #include "stepper.h"
 #endif
 
+#include "config.h"
+
 
 #ifdef SYSTEM_TIMER_2
 
@@ -74,6 +76,9 @@ extern int current_voltage_raw_pwr;
 extern int current_voltage_raw_bed;
 #endif
 
+#if IR_SENSOR_ANALOG
+extern int current_voltage_raw_IR;
+#endif //IR_SENSOR_ANALOG
 
 #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
   extern unsigned char soft_pwm_bed;
diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp
index 6a79f51a..dca50ac7 100755
--- a/Firmware/tmc2130.cpp
+++ b/Firmware/tmc2130.cpp
@@ -24,7 +24,7 @@ uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
 uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
 
 //running currents for homing
-uint8_t tmc2130_current_r_home[4] = {8, 10, 20, 18};
+uint8_t tmc2130_current_r_home[4] = TMC2130_CURRENTS_R_HOME;
 
 
 //pwm_ampl
@@ -40,7 +40,7 @@ uint8_t tmc2130_mres[4] = {0, 0, 0, 0}; //will be filed at begin of init
 
 
 uint8_t tmc2130_sg_thr[4] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
-uint8_t tmc2130_sg_thr_home[4] = {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E};
+uint8_t tmc2130_sg_thr_home[4] = TMC2130_SG_THRS_HOME;
 
 
 uint8_t tmc2130_sg_homing_axes_mask = 0x00;
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index e8c26898..ed38240f 100755
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -45,6 +45,10 @@
 #include "io_atmega2560.h"
 #include "first_lay_cal.h"
 
+#include "fsensor.h"
+#include "adc.h"
+#include "config.h"
+
 
 int scrollstuff = 0;
 char longFilenameOLD[LONG_FILENAME_LENGTH];
@@ -61,9 +65,6 @@ uint8_t SilentModeMenu_MMU = 1; //activate mmu unit stealth mode
 
 int8_t FSensorStateMenu = 1;
 
-extern bool fsensor_enable();
-extern void fsensor_disable();
-
 
 #ifdef SDCARD_SORT_ALPHA
 bool presort_flag = false;
@@ -197,6 +198,7 @@ enum class TestError : uint_least8_t
     SwappedFan,
     WiringFsensor,
     TriggeringFsensor,
+    FsensorLevel
 };
 
 static int  lcd_selftest_screen(TestScreen screen, int _progress, int _progress_scale, bool _clear, int _delay);
@@ -228,6 +230,9 @@ static FanCheck lcd_selftest_fan_auto(int _fan);
 static bool lcd_selftest_fsensor();
 #endif //PAT9125
 static bool selftest_irsensor();
+#if IR_SENSOR_ANALOG
+static bool lcd_selftest_IRsensor();
+#endif //IR_SENSOR_ANALOG
 static void lcd_selftest_error(TestError error, const char *_error_1, const char *_error_2);
 static void lcd_colorprint_change();
 #ifdef SNMM
@@ -2018,11 +2023,11 @@ static void lcd_menu_temperatures()
     menu_back_if_clicked();
 }
 
-#if defined (VOLT_BED_PIN) || defined (VOLT_PWR_PIN)
+#if defined (VOLT_BED_PIN) || defined (VOLT_PWR_PIN) || IR_SENSOR_ANALOG
 #define VOLT_DIV_R1 10000
 #define VOLT_DIV_R2 2370
 #define VOLT_DIV_FAC ((float)VOLT_DIV_R2 / (VOLT_DIV_R2 + VOLT_DIV_R1))
-#define VOLT_DIV_REF 5
+
 //! @brief Show Voltages
 //!
 //! @code{.unparsed}
@@ -2040,10 +2045,17 @@ static void lcd_menu_voltages()
 	float volt_pwr = VOLT_DIV_REF * ((float)current_voltage_raw_pwr / (1023 * OVERSAMPLENR)) / VOLT_DIV_FAC;
 	float volt_bed = VOLT_DIV_REF * ((float)current_voltage_raw_bed / (1023 * OVERSAMPLENR)) / VOLT_DIV_FAC;
 	lcd_home();
-	lcd_printf_P(PSTR(" PWR:      %d.%01dV\n" " BED:      %d.%01dV"), (int)volt_pwr, (int)(10*fabs(volt_pwr - (int)volt_pwr)), (int)volt_bed, (int)(10*fabs(volt_bed - (int)volt_bed)));
-    menu_back_if_clicked();
+#if !IR_SENSOR_ANALOG
+	lcd_printf_P(PSTR("\n"));
+#endif //!IR_SENSOR_ANALOG
+     lcd_printf_P(PSTR(" PWR:      %4.1fV\n" " BED:      %4.1fV"), volt_pwr, volt_bed);
+#if IR_SENSOR_ANALOG
+     float volt_IR = VOLT_DIV_REF * ((float)current_voltage_raw_IR / (1023 * OVERSAMPLENR));
+     lcd_printf_P(PSTR("\n IR :       %3.1fV"),volt_IR);
+#endif //IR_SENSOR_ANALOG
+     menu_back_if_clicked();
 }
-#endif //defined VOLT_BED_PIN || defined VOLT_PWR_PIN
+#endif //defined (VOLT_BED_PIN) || defined (VOLT_PWR_PIN) || IR_SENSOR_ANALOG
 
 #ifdef TMC2130
 //! @brief Show Belt Status
@@ -4096,7 +4108,7 @@ void prusa_statistics(int _message, uint8_t _fil_nr) {
 		{   
 			prusa_statistics_case0(15);
 		}
-		else if (isPrintPaused || card.paused) 
+		else if (isPrintPaused)
 		{
 			prusa_statistics_case0(14);
 		}
@@ -5684,6 +5696,41 @@ SETTINGS_VERSION;
 MENU_END();
 }
 
+#if IR_SENSOR_ANALOG
+static void lcd_fsensor_actionNA_set(void)
+{
+switch(oFsensorActionNA)
+     {
+     case ClFsensorActionNA::_Continue:
+          oFsensorActionNA=ClFsensorActionNA::_Pause;
+          break;
+     case ClFsensorActionNA::_Pause:
+          oFsensorActionNA=ClFsensorActionNA::_Continue;
+          break;
+     default:
+          oFsensorActionNA=ClFsensorActionNA::_Continue;
+     }
+eeprom_update_byte((uint8_t*)EEPROM_FSENSOR_ACTION_NA,(uint8_t)oFsensorActionNA);
+}
+
+#define FSENSOR_ACTION_NA \
+do\
+{\
+    switch(oFsensorActionNA)\
+         {\
+         case ClFsensorActionNA::_Continue:\
+              MENU_ITEM_TOGGLE_P(_T(MSG_FS_ACTION), _T(MSG_FS_CONTINUE), lcd_fsensor_actionNA_set);\
+              break;\
+         case ClFsensorActionNA::_Pause:\
+              MENU_ITEM_TOGGLE_P(_T(MSG_FS_ACTION), _T(MSG_FS_PAUSE), lcd_fsensor_actionNA_set);\
+              break;\
+         default:\
+              oFsensorActionNA=ClFsensorActionNA::_Continue;\
+         }\
+}\
+while (0)
+#endif //IR_SENSOR_ANALOG
+
 template <uint8_t number>
 static void select_sheet_menu()
 {
@@ -5715,6 +5762,9 @@ void lcd_hw_setup_menu(void)                      // can not be "static"
     SETTINGS_NOZZLE;
     MENU_ITEM_SUBMENU_P(_i("Checks"), lcd_checking_menu);
 
+#if IR_SENSOR_ANALOG
+    FSENSOR_ACTION_NA;
+#endif //IR_SENSOR_ANALOG
     MENU_END();
 }
 
@@ -7048,11 +7098,21 @@ static void lcd_tune_menu()
 
 #ifdef FILAMENT_SENSOR
 	if (FSensorStateMenu == 0) {
-		MENU_ITEM_TOGGLE_P(_T(MSG_FSENSOR), _T(MSG_OFF), lcd_fsensor_state_set);
+          if (fsensor_not_responding && (mmu_enabled == false)) {
+               /* Filament sensor not working*/
+               MENU_ITEM_TOGGLE_P(_T(MSG_FSENSOR), _T(MSG_NA), lcd_fsensor_state_set);
+          }
+          else {
+               /* Filament sensor turned off, working, no problems*/
+               MENU_ITEM_TOGGLE_P(_T(MSG_FSENSOR), _T(MSG_OFF), lcd_fsensor_state_set);
+          }
 	}
 	else {
 		MENU_ITEM_TOGGLE_P(_T(MSG_FSENSOR), _T(MSG_ON), lcd_fsensor_state_set);
 	}
+#if IR_SENSOR_ANALOG
+     FSENSOR_ACTION_NA;
+#endif //IR_SENSOR_ANALOG
 #endif //FILAMENT_SENSOR
 
 	SETTINGS_AUTO_DEPLETE;
@@ -7370,6 +7430,42 @@ void lcd_belttest()
 }
 #endif //TMC2130
 
+#if IR_SENSOR_ANALOG
+static bool lcd_selftest_IRsensor()
+{
+bool bAction;
+bool bPCBrev03b;
+uint16_t volt_IR_int;
+float volt_IR;
+
+volt_IR_int=current_voltage_raw_IR;
+bPCBrev03b=(volt_IR_int<((int)IRsensor_Hopen_TRESHOLD));
+volt_IR=VOLT_DIV_REF*((float)volt_IR_int/(1023*OVERSAMPLENR));
+printf_P(PSTR("Measured filament sensor high level: %4.2fV\n"),volt_IR);
+if(volt_IR_int<((int)IRsensor_Hmin_TRESHOLD))
+     {
+     lcd_selftest_error(TestError::FsensorLevel,"HIGH","");
+     return(false);
+     }
+lcd_show_fullscreen_message_and_wait_P(_i("Please insert filament (but not load them!) into extruder and then press the knob."));
+volt_IR_int=current_voltage_raw_IR;
+volt_IR=VOLT_DIV_REF*((float)volt_IR_int/(1023*OVERSAMPLENR));
+printf_P(PSTR("Measured filament sensor low level: %4.2fV\n"),volt_IR);
+if(volt_IR_int>((int)IRsensor_Lmax_TRESHOLD))
+     {
+     lcd_selftest_error(TestError::FsensorLevel,"LOW","");
+     return(false);
+     }
+if((bPCBrev03b?1:0)!=(uint8_t)oFsensorPCB)        // safer then "(uint8_t)bPCBrev03b"
+     {
+     printf_P(PSTR("Filament sensor board change detected: revision %S\n"),bPCBrev03b?PSTR("03b or newer"):PSTR("03 or older"));
+     oFsensorPCB=bPCBrev03b?ClFsensorPCB::_Rev03b:ClFsensorPCB::_Old;
+     eeprom_update_byte((uint8_t*)EEPROM_FSENSOR_PCB,(uint8_t)oFsensorPCB);
+     }
+return(true);
+}
+#endif //IR_SENSOR_ANALOG
+
 static void lcd_selftest_v()
 {
 	(void)lcd_selftest();
@@ -7386,8 +7482,16 @@ bool lcd_selftest()
 	#ifdef TMC2130
 	  FORCE_HIGH_POWER_START;
 	#endif // TMC2130
-	_delay(2000);
+#if !IR_SENSOR_ANALOG
+     _delay(2000);
+#endif //!IR_SENSOR_ANALOG
 	KEEPALIVE_STATE(IN_HANDLER);
+#if IR_SENSOR_ANALOG
+     bool bAction;
+     bAction=lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Is filament unloaded?"),false,true);
+     if(!bAction)
+          return(false);
+#endif //IR_SENSOR_ANALOG
 
 	_progress = lcd_selftest_screen(TestScreen::ExtruderFan, _progress, 3, true, 2000);
 #if (defined(FANCHECK) && defined(TACH_0))
@@ -7573,12 +7677,20 @@ bool lcd_selftest()
         {
 #ifdef PAT9125
 			_progress = lcd_selftest_screen(TestScreen::Fsensor, _progress, 3, true, 2000); //check filaments sensor
-            _result = lcd_selftest_fsensor();
+               _result = lcd_selftest_fsensor();
 			if (_result)
 			{
 				_progress = lcd_selftest_screen(TestScreen::FsensorOk, _progress, 3, true, 2000); //fil sensor OK
 			}
 #endif //PAT9125
+#if IR_SENSOR_ANALOG
+			_progress = lcd_selftest_screen(TestScreen::Fsensor, _progress, 3, true, 2000); //check filament sensor
+               _result = lcd_selftest_IRsensor();
+			if (_result)
+			{
+				_progress = lcd_selftest_screen(TestScreen::FsensorOk, _progress, 3, true, 2000); //filament sensor OK
+			}
+#endif //IR_SENSOR_ANALOG
         }
     }
 #endif //FILAMENT_SENSOR
@@ -8114,11 +8226,17 @@ static void lcd_selftest_error(TestError testError, const char *_error_1, const
 		lcd_puts_P(_T(MSG_SELFTEST_WIRINGERROR));
 		break;
 	case TestError::TriggeringFsensor:
-	    lcd_set_cursor(0, 2);
-        lcd_puts_P(_T(MSG_SELFTEST_FILAMENT_SENSOR));
-        lcd_set_cursor(0, 3);
-        lcd_puts_P(_i("False triggering"));////c=20
-        break;
+          lcd_set_cursor(0, 2);
+          lcd_puts_P(_T(MSG_SELFTEST_FILAMENT_SENSOR));
+          lcd_set_cursor(0, 3);
+          lcd_puts_P(_i("False triggering"));////c=20
+          break;
+	case TestError::FsensorLevel:
+          lcd_set_cursor(0, 2);
+          lcd_puts_P(_T(MSG_SELFTEST_FILAMENT_SENSOR));
+          lcd_set_cursor(0, 3);
+          lcd_printf_P(_i("%s level expected"),_error_1);////c=20
+          break;
 	}
 
 	_delay(1000);
diff --git a/Firmware/ultralcd.h b/Firmware/ultralcd.h
index 01f598ae..fa2fc185 100755
--- a/Firmware/ultralcd.h
+++ b/Firmware/ultralcd.h
@@ -7,6 +7,8 @@
 #include "menu.h"
 #include "mesh_bed_calibration.h"
 
+#include "config.h"
+
 extern void menu_lcd_longpress_func(void);
 extern void menu_lcd_charsetup_func(void);
 extern void menu_lcd_lcdupdate_func(void);
@@ -242,4 +244,12 @@ enum class WizState : uint8_t
 
 void lcd_wizard(WizState state);
 
+#define VOLT_DIV_REF 5
+#if IR_SENSOR_ANALOG
+#define IRsensor_Hmin_TRESHOLD (3.0*1023*OVERSAMPLENR/VOLT_DIV_REF) // ~3.0V (0.6*Vcc)
+#define IRsensor_Lmax_TRESHOLD (1.5*1023*OVERSAMPLENR/VOLT_DIV_REF) // ~1.5V (0.3*Vcc)
+#define IRsensor_Hopen_TRESHOLD (4.6*1023*OVERSAMPLENR/VOLT_DIV_REF) // ~4.6V (N.C. @ Ru~20-50k, Rd'=56k, Ru'=10k)
+#define IRsensor_Ldiode_TRESHOLD (0.3*1023*OVERSAMPLENR/VOLT_DIV_REF) // ~0.3V
+#endif //IR_SENSOR_ANALOG
+
 #endif //ULTRALCD_H
diff --git a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
index 54f0c469..685d77c6 100644
--- a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
@@ -260,11 +260,13 @@
 #define TMC2130_SG_THRS_Y       3     // stallguard sensitivity for Y axis
 #define TMC2130_SG_THRS_Z       4     // stallguard sensitivity for Z axis
 #define TMC2130_SG_THRS_E       3     // stallguard sensitivity for E axis
+#define TMC2130_SG_THRS_HOME {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E}
 
 //new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
 #define TMC2130_CURRENTS_H {16, 20, 35, 30}  // default holding currents for all axes
 #define TMC2130_CURRENTS_R {16, 20, 35, 30}  // default running currents for all axes
-#define TMC2130_UNLOAD_CURRENT_R 12			 // lowe current for M600 to protect filament sensor 
+#define TMC2130_CURRENTS_R_HOME {8, 10, 20, 18}  // homing running currents for all axes
+// #define TMC2130_UNLOAD_CURRENT_R 12			 // lower current for M600 to protect filament sensor - Unused
 
 #define TMC2130_STEALTH_Z
 
diff --git a/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h b/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h
index 62dae6ac..5ee149e7 100644
--- a/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h
@@ -262,11 +262,13 @@
 #define TMC2130_SG_THRS_Y       3     // stallguard sensitivity for Y axis
 #define TMC2130_SG_THRS_Z       4     // stallguard sensitivity for Z axis
 #define TMC2130_SG_THRS_E       3     // stallguard sensitivity for E axis
+#define TMC2130_SG_THRS_HOME {3, 3, TMC2130_SG_THRS_Z, TMC2130_SG_THRS_E}
 
 //new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
 #define TMC2130_CURRENTS_H {16, 20, 35, 30}  // default holding currents for all axes
 #define TMC2130_CURRENTS_R {16, 20, 35, 30}  // default running currents for all axes
-#define TMC2130_UNLOAD_CURRENT_R 12			 // lowe current for M600 to protect filament sensor 
+#define TMC2130_CURRENTS_R_HOME {8, 10, 20, 18}  // homing running currents for all axes
+// #define TMC2130_UNLOAD_CURRENT_R 12			 // lower current for M600 to protect filament sensor - Unused
 
 #define TMC2130_STEALTH_Z
 
diff --git a/PF-build.sh b/PF-build.sh
index fb3b51a1..7f538ea0 100755
--- a/PF-build.sh
+++ b/PF-build.sh
@@ -56,7 +56,7 @@
 #   Some may argue that this is only used by a script, BUT as soon someone accidentally or on purpose starts Arduino IDE
 #   it will use the default Arduino IDE folders and so can corrupt the build environment.
 #
-# Version: 1.0.6-Build_9
+# Version: 1.0.6-Build_10
 # Change log:
 # 12 Jan 2019, 3d-gussner, Fixed "compiler.c.elf.flags=-w -Os -Wl,-u,vfprintf -lprintf_flt -lm -Wl,--gc-sections" in 'platform.txt'
 # 16 Jan 2019, 3d-gussner, Build_2, Added development check to modify 'Configuration.h' to prevent unwanted LCD messages that Firmware is unknown
@@ -112,7 +112,9 @@
 #                          Changed Hex-files folder to PF-build-hex as requested in PR
 # 23 Jul 2019, 3d-gussner, Added Finding OS version routine so supporting new OS should get easier
 # 26 Jul 2019, 3d-gussner, Change JSON repository to prusa3d after PR https://github.com/prusa3d/Arduino_Boards/pull/1 was merged
-
+# 23 Sep 2019, 3d-gussner, Prepare PF-build.sh for comming Prusa3d/Arduino_Boards version 1.0.2 Pull Request
+# 17 Oct 2019, 3d-gussner, Changed folder and check file names to have seperated build enviroments depening on Arduino IDE version and
+#                          board-versions. 
 #### Start check if OSTYPE is supported
 OS_FOUND=$( command -v uname)
 
@@ -211,7 +213,8 @@ fi
 #### Set build environment 
 ARDUINO_ENV="1.8.5"
 BUILD_ENV="1.0.6"
-BOARD="PrusaResearchRambo"
+BOARD="rambo"
+BOARD_PACKAGE_NAME="PrusaResearchRambo"
 BOARD_VERSION="1.0.1"
 BOARD_URL="https://raw.githubusercontent.com/prusa3d/Arduino_Boards/master/IDE_Board_Manager/package_prusa3d_index.json"
 BOARD_FILENAME="prusa3drambo"
@@ -229,6 +232,7 @@ echo ""
 echo "Ardunio IDE :" $ARDUINO_ENV
 echo "Build env   :" $BUILD_ENV
 echo "Board       :" $BOARD
+echo "Package name:" $BOARD_PACKAGE_NAME
 echo "Specific Lib:" $LIB
 echo ""
 
@@ -259,12 +263,12 @@ if [ $TARGET_OS == "windows" ]; then
 		wget https://downloads.arduino.cc/arduino-$ARDUINO_ENV-windows.zip || exit 7
 		echo "$(tput sgr 0)"
 	fi
-	if [ ! -d "../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor" ]; then
+	if [[ ! -d "../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor" && ! -e "../PF-build-env-$BUILD_ENV/arduino-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor.txt" ]]; then
 		echo "$(tput setaf 6)Unzipping Windows 32/64-bit Arduino IDE portable...$(tput setaf 2)"
 		sleep 2
 		unzip arduino-$ARDUINO_ENV-windows.zip -d ../PF-build-env-$BUILD_ENV || exit 7
-		mv ../PF-build-env-$BUILD_ENV/arduino-$ARDUINO_ENV ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor
-		echo "# arduino-$ARDUINO_ENV-$TARGET_OS-$Processor" >> ../PF-build-env-$BUILD_ENV/arduino-$ARDUINO_ENV-$TARGET_OS-$Processor
+		mv ../PF-build-env-$BUILD_ENV/arduino-$ARDUINO_ENV ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor
+		echo "# arduino-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor" >> ../PF-build-env-$BUILD_ENV/arduino-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor.txt
 		echo "$(tput sgr0)"
 	fi
 fi
@@ -277,55 +281,55 @@ if [ $TARGET_OS == "linux" ]; then
 		wget --no-check-certificate https://downloads.arduino.cc/arduino-$ARDUINO_ENV-linux$Processor.tar.xz || exit 8
 		echo "$(tput sgr 0)"
 	fi
-	if [[ ! -d "../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor" && ! -e "../PF-build-env-$BUILD_ENV/arduino-$ARDUINO_ENV-$TARGET_OS-$Processor.txt" ]]; then
+	if [[ ! -d "../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor" && ! -e "../PF-build-env-$BUILD_ENV/arduino-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor.txt" ]]; then
 		echo "$(tput setaf 6)Unzipping Linux $Processor Arduino IDE portable...$(tput setaf 2)"
 		sleep 2
 		tar -xvf arduino-$ARDUINO_ENV-linux$Processor.tar.xz -C ../PF-build-env-$BUILD_ENV/ || exit 8
-		mv ../PF-build-env-$BUILD_ENV/arduino-$ARDUINO_ENV ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor
-		echo "# arduino-$ARDUINO_ENV-$TARGET_OS-$Processor" >> ../PF-build-env-$BUILD_ENV/arduino-$ARDUINO_ENV-$TARGET_OS-$Processor.txt
+		mv ../PF-build-env-$BUILD_ENV/arduino-$ARDUINO_ENV ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor
+		echo "# arduino-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor" >> ../PF-build-env-$BUILD_ENV/arduino-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor.txt
 		echo "$(tput sgr0)"
 	fi
 fi
 # Make Arduino IDE portable
-if [ ! -d ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/ ]; then
-	mkdir ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/
+if [ ! -d ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/ ]; then
+	mkdir ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/
 fi
 
-if [ ! -d ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/ ]; then
-	mkdir ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable
+if [ ! -d ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/ ]; then
+	mkdir ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable
 fi
-if [ ! -d ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/output/ ]; then
-	mkdir ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/output
+if [ ! -d ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/output/ ]; then
+	mkdir ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/output
 fi
-if [ ! -d ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/ ]; then
-	mkdir ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages
+if [ ! -d ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/ ]; then
+	mkdir ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages
 fi
-if [ ! -d ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/sketchbook/ ]; then
-	mkdir ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/sketchbook
+if [ ! -d ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/sketchbook/ ]; then
+	mkdir ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/sketchbook
 fi
-if [ ! -d ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/sketchbook/libraries/ ]; then
-	mkdir ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/sketchbook/libraries
+if [ ! -d ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/sketchbook/libraries/ ]; then
+	mkdir ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/sketchbook/libraries
 fi
-if [ ! -d ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/staging/ ]; then
-	mkdir ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/staging
+if [ ! -d ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/staging/ ]; then
+	mkdir ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/staging
 fi
 
 # Change Arduino IDE preferences
-if [ ! -e ../PF-build-env-$BUILD_ENV/Preferences-$TARGET_OS-$Processor.txt ]; then
-	echo "$(tput setaf 6)Setting $TARGET_OS-$Processor Arduino IDE preferences for portable GUI usage...$(tput setaf 2)"
+if [ ! -e ../PF-build-env-$BUILD_ENV/Preferences-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor.txt ]; then
+	echo "$(tput setaf 6)Setting $ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor Arduino IDE preferences for portable GUI usage...$(tput setaf 2)"
 	sleep 2
 	echo "update.check"
-	sed -i 's/update.check = true/update.check = false/g' ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/lib/preferences.txt
+	sed -i 's/update.check = true/update.check = false/g' ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/lib/preferences.txt
 	echo "board"
-	sed -i 's/board = uno/board = rambo/g' ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/lib/preferences.txt
+	sed -i 's/board = uno/board = $BOARD/g' ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/lib/preferences.txt
 	echo "editor.linenumbers"
-	sed -i 's/editor.linenumbers = false/editor.linenumbers = true/g' ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/lib/preferences.txt
+	sed -i 's/editor.linenumbers = false/editor.linenumbers = true/g' ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/lib/preferences.txt
 	echo "boardsmanager.additional.urls"
-	echo "boardsmanager.additional.urls=$BOARD_URL" >>../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/lib/preferences.txt
-	echo "build.verbose=true" >>../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/lib/preferences.txt
-	echo "compiler.cache_core=false" >>../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/lib/preferences.txt
-	echo "compiler.warning_level=all" >>../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/lib/preferences.txt
-	echo "# Preferences-$TARGET_OS-$Processor" >> ../PF-build-env-$BUILD_ENV/Preferences-$TARGET_OS-$Processor.txt
+	echo "boardsmanager.additional.urls=$BOARD_URL" >>../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/lib/preferences.txt
+	echo "build.verbose=true" >>../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/lib/preferences.txt
+	echo "compiler.cache_core=false" >>../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/lib/preferences.txt
+	echo "compiler.warning_level=all" >>../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/lib/preferences.txt
+	echo "# Preferences-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor" >> ../PF-build-env-$BUILD_ENV/Preferences-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor.txt
 	echo "$(tput sgr0)"
 fi
 
@@ -336,25 +340,26 @@ if [ ! -f "$BOARD_FILENAME-$BOARD_VERSION.tar.bz2" ]; then
 	sleep 2
 	wget $BOARD_FILE_URL || exit 9
 fi
-if [[ ! -d "../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/$BOARD/hardware/avr/$BOARD_VERSION" || ! -e "../PF-build-env-$BUILD_ENV/$BOARD_FILENAME-$BOARD_VERSION-$TARGET_OS-$Processor.txt" ]]; then
-	echo "$(tput setaf 6)Unzipping $BOARD Arduino IDE portable...$(tput setaf 2)"
+if [[ ! -d "../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/$BOARD_PACKAGE_NAME/hardware/avr/$BOARD_VERSION" || ! -e "../PF-build-env-$BUILD_ENV/$BOARD_FILENAME-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor.txt" ]]; then
+	echo "$(tput setaf 6)Unzipping $BOARD_PACKAGE_NAME Arduino IDE portable...$(tput setaf 2)"
 	sleep 2
 	tar -xvf $BOARD_FILENAME-$BOARD_VERSION.tar.bz2 -C ../PF-build-env-$BUILD_ENV/ || exit 10
-	if [ ! -d ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/$BOARD ]; then
-		mkdir ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/$BOARD
+	if [ ! -d ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/$BOARD_PACKAGE_NAME ]; then
+		mkdir ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/$BOARD_PACKAGE_NAME
 	fi
-	if [ ! -d ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/$BOARD ]; then
-		mkdir ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/$BOARD
+	if [ ! -d ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/$BOARD_PACKAGE_NAME ]; then
+		mkdir ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/$BOARD_PACKAGE_NAME
 	fi
-	if [ ! -d ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/$BOARD/hardware ]; then
-		mkdir ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/$BOARD/hardware
+	if [ ! -d ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/$BOARD_PACKAGE_NAME/hardware ]; then
+		mkdir ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/$BOARD_PACKAGE_NAME/hardware
 	fi
-	if [ ! -d ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/$BOARD/hardware/avr ]; then
-		mkdir ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/$BOARD/hardware/avr
+	if [ ! -d ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/$BOARD_PACKAGE_NAME/hardware/avr ]; then
+		mkdir ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/$BOARD_PACKAGE_NAME/hardware/avr
 	fi
 	
-	mv ../PF-build-env-$BUILD_ENV/$BOARD_FILENAME-$BOARD_VERSION ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/$BOARD/hardware/avr/$BOARD_VERSION
-	echo "# $BOARD_FILENAME-$BOARD_VERSION" >> ../PF-build-env-$BUILD_ENV/$BOARD_FILENAME-$BOARD_VERSION-$TARGET_OS-$Processor.txt
+	mv ../PF-build-env-$BUILD_ENV/$BOARD_FILENAME-$BOARD_VERSION ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/$BOARD_PACKAGE_NAME/hardware/avr/$BOARD_VERSION
+	echo "# $BOARD_FILENAME-$BOARD_VERSION" >> ../PF-build-env-$BUILD_ENV/$BOARD_FILENAME-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor.txt
+
 	echo "$(tput sgr 0)"
 fi	
 
@@ -365,30 +370,30 @@ if [ ! -f "PF-build-env-$BUILD_ENV.zip" ]; then
 	wget $PF_BUILD_FILE_URL || exit 11
 	echo "$(tput sgr 0)"
 fi
-if [ ! -e "../PF-build-env-$BUILD_ENV/PF-build-env-$BUILD_ENV-$TARGET_OS-$Processor.txt" ]; then
+if [ ! -e "../PF-build-env-$BUILD_ENV/PF-build-env-$BUILD_ENV-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor.txt" ]; then
 	echo "$(tput setaf 6)Unzipping Prusa Firmware build environment...$(tput setaf 2)"
 	sleep 2
-	unzip -o PF-build-env-$BUILD_ENV.zip -d ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor || exit 12
-	echo "# PF-build-env-$TARGET_OS-$Processor-$BUILD_ENV" >> ../PF-build-env-$BUILD_ENV/PF-build-env-$BUILD_ENV-$TARGET_OS-$Processor.txt
+	unzip -o PF-build-env-$BUILD_ENV.zip -d ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor || exit 12
+	echo "# PF-build-env-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor-$BUILD_ENV" >> ../PF-build-env-$BUILD_ENV/PF-build-env-$BUILD_ENV-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor.txt
 	echo "$(tput sgr0)"
 fi
 
 # Check if User updated Arduino IDE 1.8.5 boardsmanager and tools
-if [ -d "../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/arduino/tools" ]; then
+if [ -d "../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/arduino/tools" ]; then
 	echo "$(tput setaf 6)Arduino IDE boards / tools have been manually updated...$"
 	echo "Please don't update the 'Arduino AVR boards' as this will prevent running this script (tput setaf 2)"
 	sleep 2
 fi	
-if [ -d "../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/arduino/tools/avr-gcc/4.9.2-atmel3.5.4-arduino2" ]; then
+if [ -d "../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/arduino/tools/avr-gcc/4.9.2-atmel3.5.4-arduino2" ]; then
 	echo "$(tput setaf 6)PrusaReasearch compatible tools have been manually updated...$(tput setaf 2)"
 	sleep 2
 	echo "$(tput setaf 6)Copying Prusa Firmware build environment to manually updated boards / tools...$(tput setaf 2)"
 	sleep 2
-	cp -f ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/hardware/tools/avr/avr/lib/ldscripts/avr6.xn ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/arduino/tools/avr-gcc/4.9.2-atmel3.5.4-arduino2/avr/lib/ldscripts/avr6.xn
-	echo "# PF-build-env-portable-$TARGET_OS-$Processor-$BUILD_ENV" >> ../PF-build-env-$BUILD_ENV/PF-build-env-portable-$BUILD_ENV-$TARGET_OS-$Processor.txt
+	cp -f ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/hardware/tools/avr/avr/lib/ldscripts/avr6.xn ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/arduino/tools/avr-gcc/4.9.2-atmel3.5.4-arduino2/avr/lib/ldscripts/avr6.xn
+	echo "# PF-build-env-portable-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor-$BUILD_ENV" >> ../PF-build-env-$BUILD_ENV/PF-build-env-portable-$BUILD_ENV-$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor.txt
 	echo "$(tput sgr0)"
 fi	
-if [ -d "../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor/portable/packages/arduino/tools/avr-gcc/5.4.0-atmel3.6.1-arduino2" ]; then
+if [ -d "../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor/portable/packages/arduino/tools/avr-gcc/5.4.0-atmel3.6.1-arduino2" ]; then
 	echo "$(tput setaf 1)Arduino IDE tools have been updated manually to a non supported version!!!"
 	echo "Delete ../PF-build-env-$BUILD_ENV and start the script again"
 	echo "Script will not continue until this have been fixed $(tput setaf 2)"
@@ -489,7 +494,7 @@ if [ ! -z "$3" ] ; then
 fi
 
 #Set BUILD_ENV_PATH
-cd ../PF-build-env-$BUILD_ENV/$TARGET_OS-$Processor || exit 24
+cd ../PF-build-env-$BUILD_ENV/$ARDUINO_ENV-$BOARD_VERSION-$TARGET_OS-$Processor || exit 24
 BUILD_ENV_PATH="$( pwd -P )"
 
 cd ../..
@@ -634,8 +639,8 @@ do
 	echo "Start to build Prusa Firmware ..."
 	echo "Using variant $VARIANT$(tput setaf 3)"
 	sleep 2
-	#$BUILD_ENV_PATH/arduino-builder -dump-prefs -debug-level 10 -compile -hardware $ARDUINO/hardware -hardware $ARDUINO/portable/packages -tools $ARDUINO/tools-builder -tools $ARDUINO/hardware/tools/avr -tools $ARDUINO/portable/packages -built-in-libraries $ARDUINO/libraries -libraries $ARDUINO/portable/sketchbook/libraries -fqbn=$BOARD:avr:rambo -ide-version=10805 -build-path=$BUILD_PATH -warnings=all $SCRIPT_PATH/Firmware/Firmware.ino || exit 14
-	$BUILD_ENV_PATH/arduino-builder -compile -hardware $ARDUINO/hardware -hardware $ARDUINO/portable/packages -tools $ARDUINO/tools-builder -tools $ARDUINO/hardware/tools/avr -tools $ARDUINO/portable/packages -built-in-libraries $ARDUINO/libraries -libraries $ARDUINO/portable/sketchbook/libraries -fqbn=$BOARD:avr:rambo -ide-version=10805 -build-path=$BUILD_PATH -warnings=all $SCRIPT_PATH/Firmware/Firmware.ino || exit 14
+	#$BUILD_ENV_PATH/arduino-builder -dump-prefs -debug-level 10 -compile -hardware $ARDUINO/hardware -hardware $ARDUINO/portable/packages -tools $ARDUINO/tools-builder -tools $ARDUINO/hardware/tools/avr -tools $ARDUINO/portable/packages -built-in-libraries $ARDUINO/libraries -libraries $ARDUINO/portable/sketchbook/libraries -fqbn=$BOARD_PACKAGE_NAME:avr:$BOARD -build-path=$BUILD_PATH -warnings=all $SCRIPT_PATH/Firmware/Firmware.ino || exit 14
+	$BUILD_ENV_PATH/arduino-builder -compile -hardware $ARDUINO/hardware -hardware $ARDUINO/portable/packages -tools $ARDUINO/tools-builder -tools $ARDUINO/hardware/tools/avr -tools $ARDUINO/portable/packages -built-in-libraries $ARDUINO/libraries -libraries $ARDUINO/portable/sketchbook/libraries -fqbn=$BOARD_PACKAGE_NAME:avr:$BOARD -build-path=$BUILD_PATH -warnings=all $SCRIPT_PATH/Firmware/Firmware.ino || exit 14
 	echo "$(tput sgr 0)"
 
 	if [ $LANGUAGES ==  "ALL" ]; then
diff --git a/Tests/PrusaStatistics_test.cpp b/Tests/PrusaStatistics_test.cpp
index 3c15899a..261a4dc6 100644
--- a/Tests/PrusaStatistics_test.cpp
+++ b/Tests/PrusaStatistics_test.cpp
@@ -198,7 +198,7 @@ void prusa_statistics(int _message, uint8_t _fil_nr) {
 			SERIAL_ECHOLN("}");
 			status_number = 15;
 		}
-		else if (isPrintPaused || card.paused) 
+		else if (isPrintPaused)
 		{
 			SERIAL_ECHO("{");
 			prusa_stat_printerstatus(14);
@@ -490,7 +490,7 @@ void prusa_statistics(int _message, uint8_t _fil_nr) {
 		{   
 			prusa_statistics_case0(15);
 		}
-		else if (isPrintPaused || card.paused) 
+		else if (isPrintPaused)
 		{
 			prusa_statistics_case0(14);
 		}
@@ -753,7 +753,6 @@ TEST_CASE("Prusa_statistics test", "[prusa_stats]")
 				SERIALS_RESET();
 
 				isPrintPaused = 0;
-				card.paused = 0;
 				IS_SD_PRINTING = 1;
 				old_code::prusa_statistics(test_codes[i],0);
 				new_code::prusa_statistics(test_codes[i],0);