diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h
index d24c4371..588f45bb 100644
--- a/Firmware/Configuration.h
+++ b/Firmware/Configuration.h
@@ -11,7 +11,7 @@
 #define FW_version "3.1.1-RC4"
 #define FW_build   143
 //#define FW_build   --BUILD-NUMBER--
-#define FW_version_build FW_version " b" STR(FW_build) "e"
+#define FW_version_build FW_version " b" STR(FW_build) "f"
 
 
 #define FW_PRUSA3D_MAGIC "PRUSA3DFW"
@@ -500,8 +500,8 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // #define EXTRUDER_OFFSET_Y {0.0, 5.00}  // (in mm) for each extruder, offset of the hotend on the Y axis
 
 // The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
-#define DEFAULT_XJERK                15       // (mm/sec)
-#define DEFAULT_YJERK                15       // (mm/sec)
+#define DEFAULT_XJERK                10       // (mm/sec)
+#define DEFAULT_YJERK                10       // (mm/sec)
 #define DEFAULT_ZJERK                 0.4     // (mm/sec)
 #define DEFAULT_EJERK                 2.5     // (mm/sec)
 
diff --git a/Firmware/Configuration_prusa.h b/Firmware/Configuration_prusa.h
index 3914f91d..488ce8c9 100644
--- a/Firmware/Configuration_prusa.h
+++ b/Firmware/Configuration_prusa.h
@@ -75,11 +75,11 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define MANUAL_FEEDRATE {2700, 2700, 1000, 100}   // set the speeds for manual moves (mm/min)
 
 //Silent mode limits
-#define SILENT_MAX_ACCEL_X  984 // X-axis max acceleration in silent mode in mm/s^2
-#define SILENT_MAX_ACCEL_Y  984 // Y-axis max axxeleration in silent mode in mm/s^2
+#define SILENT_MAX_ACCEL_X  960 // X-axis max acceleration in silent mode in mm/s^2
+#define SILENT_MAX_ACCEL_Y  960 // Y-axis max axxeleration in silent mode in mm/s^2
 #define SILENT_MAX_ACCEL_X_ST (100*SILENT_MAX_ACCEL_X) // X max accel in steps/s^2
 #define SILENT_MAX_ACCEL_Y_ST (100*SILENT_MAX_ACCEL_Y) // Y max accel in steps/s^2
-#define SILENT_MAX_FEEDRATE 172  //max feedrate in mm/s, because mode switched to normal for homming , this value limits also homing, it should be greater (160mm/s=9600mm/min>2700mm/min)
+#define SILENT_MAX_FEEDRATE 172  //max feedrate in mm/s, because mode switched to normal for homming , this value limits also homing, it should be greater (172mm/s=9600mm/min>2700mm/min)
 
 //number of bytes from end of the file to start check
 #define END_FILE_SECTION 10000
@@ -180,7 +180,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 
 #define TMC2130_SG_HOMING       1     // stallguard homing
 #define TMC2130_SG_THRS_X       3     // stallguard sensitivity for X axis
-#define TMC2130_SG_THRS_Y       4     // stallguard sensitivity for Y axis
+#define TMC2130_SG_THRS_Y       3     // stallguard sensitivity for Y axis
 #define TMC2130_SG_THRS_Z       3     // stallguard sensitivity for Z axis
 #define TMC2130_SG_THRS_E       3     // stallguard sensitivity for E axis
 
diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 996ec118..7240e7a6 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -657,7 +657,7 @@ void crashdet_detected()
 #endif
 	lcd_update_enable(true);
 	lcd_update(2);
-	lcd_setstatuspgm(WELCOME_MSG);
+	lcd_setstatuspgm(PSTR("Crash detected!"));
 	if (yesno)
 	{
 		enquecommand_P(PSTR("G28 X"));
diff --git a/Firmware/temperature.cpp b/Firmware/temperature.cpp
index cd3c43cd..2d2d3098 100644
--- a/Firmware/temperature.cpp
+++ b/Firmware/temperature.cpp
@@ -1548,6 +1548,11 @@ void adc_ready(void) //callback from adc when sampling finished
 // Timer 0 is shared with millies
 ISR(TIMER0_COMPB_vect)
 {
+	static bool _lock = false;
+	if (_lock) return;
+	_lock = true;
+	asm("sei");
+
 	if (!temp_meas_ready) adc_cycle();
 	else
 	{
@@ -1887,6 +1892,8 @@ ISR(TIMER0_COMPB_vect)
 #endif //BABYSTEPPING
 
   check_fans();
+
+	_lock = false;
 }
 
 void check_max_temp()
diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp
index 4278c78b..a9180300 100644
--- a/Firmware/tmc2130.cpp
+++ b/Firmware/tmc2130.cpp
@@ -239,7 +239,7 @@ void tmc2130_st_isr(uint8_t last_step_mask)
 		{
 			tmc2130_sg_cnt[axis] = tmc2130_sg_err[axis];
 			tmc2130_sg_change = true;
-			if (tmc2130_sg_err[axis] >= 64)
+			if (tmc2130_sg_err[axis] >= 32)
 			{
 				tmc2130_sg_err[axis] = 0;
 				crash = true;