Prusa MMU2 (#12967)

Marlin/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/Configuration_adv.h

@@ -1463,7 +1463,7 @@
    * Define you own with
    * { <off_time[1..15]>, <hysteresis_end[-3..12]>, hysteresis_start[1..8] }
    */
-  #define CHOPPER_TIMING CHOPPER_DEFAULT_12V
+  #define CHOPPER_TIMING { 4, -2, 1 }
 
   /**
    * Monitor Trinamic TMC2130 and TMC2208 drivers for error conditions,
@@ -2104,6 +2104,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/HAL/HAL_AVR/MarlinSerial.cpp

@@ -739,6 +739,24 @@
 
 #endif // !USBCON && (UBRRH || UBRR0H || UBRR1H || UBRR2H || UBRR3H)
 
+
+#if defined(INTERNAL_SERIAL_PORT)
+
+    ISR(SERIAL_REGNAME(USART,INTERNAL_SERIAL_PORT,_RX_vect)) {
+      MarlinSerial<MarlinInternalSerialCfg<INTERNAL_SERIAL_PORT>>::store_rxd_char();
+    }
+
+    ISR(SERIAL_REGNAME(USART,INTERNAL_SERIAL_PORT,_UDRE_vect)) {
+      MarlinSerial<MarlinInternalSerialCfg<INTERNAL_SERIAL_PORT>>::_tx_udr_empty_irq();
+    }
+
+    // Preinstantiate
+    template class MarlinSerial<MarlinInternalSerialCfg<INTERNAL_SERIAL_PORT>>;
+
+    // Instantiate
+    MarlinSerial<MarlinInternalSerialCfg<INTERNAL_SERIAL_PORT>> internalSerial;
+
+#endif
 // For AT90USB targets use the UART for BT interfacing
 #if defined(USBCON) && ENABLED(BLUETOOTH)
   HardwareSerial bluetoothSerial;

Marlin/src/HAL/HAL_AVR/MarlinSerial.h

@@ -275,6 +275,24 @@
 
 #endif // !USBCON
 
+
+#if defined(INTERNAL_SERIAL_PORT)
+  template <uint8_t serial>
+  struct MarlinInternalSerialCfg {
+    static constexpr int PORT               = serial;
+    static constexpr unsigned int RX_SIZE   = 32;
+    static constexpr unsigned int TX_SIZE   = 32;
+    static constexpr bool XONOFF            = false;
+    static constexpr bool EMERGENCYPARSER   = false;
+    static constexpr bool DROPPED_RX        = false;
+    static constexpr bool RX_OVERRUNS       = false;
+    static constexpr bool RX_FRAMING_ERRORS = false;
+    static constexpr bool MAX_RX_QUEUED     = false;
+  };
+
+  extern MarlinSerial<MarlinInternalSerialCfg<INTERNAL_SERIAL_PORT>> internalSerial;
+#endif
+
 // Use the UART for Bluetooth in AT90USB configurations
 #if defined(USBCON) && ENABLED(BLUETOOTH)
   extern HardwareSerial bluetoothSerial;

Marlin/src/Marlin.cpp

@@ -156,6 +156,10 @@
   #include "feature/controllerfan.h"
 #endif
 
+#if ENABLED(PRUSA_MMU2)
+  #include "feature/prusa_MMU2/mmu2.h"
+#endif
+
 #if ENABLED(EXTENSIBLE_UI)
   #include "lcd/extensible_ui/ui_api.h"
 #endif
@@ -632,6 +636,10 @@ void idle(
   #if ENABLED(USB_FLASH_DRIVE_SUPPORT)
     Sd2Card::idle();
   #endif
+
+  #if ENABLED(PRUSA_MMU2)
+    mmu2.mmuLoop();
+  #endif
 }
 
 /**
@@ -984,6 +992,10 @@ void setup() {
   #if HAS_TRINAMIC && DISABLED(PS_DEFAULT_OFF)
     test_tmc_connection(true, true, true, true);
   #endif
+
+  #if ENABLED(PRUSA_MMU2)
+    mmu2.init();
+  #endif
 }
 
 /**

Marlin/src/config/default/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/default/Configuration_adv.h

@@ -1463,7 +1463,7 @@
    * Define you own with
    * { <off_time[1..15]>, <hysteresis_end[-3..12]>, hysteresis_start[1..8] }
    */
-  #define CHOPPER_TIMING CHOPPER_DEFAULT_12V
+  #define CHOPPER_TIMING { 4, -2, 1 }
 
   /**
    * Monitor Trinamic TMC2130 and TMC2208 drivers for error conditions,
@@ -2104,6 +2104,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/3DFabXYZ/Migbot/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/3DFabXYZ/Migbot/Configuration_adv.h

@@ -2106,6 +2106,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/AlephObjects/TAZ4/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/AlephObjects/TAZ4/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/AliExpress/CL-260/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Anet/A2/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Anet/A2/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Anet/A2plus/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Anet/A2plus/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Anet/A6/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Anet/A6/Configuration_adv.h

@@ -2102,6 +2102,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Anet/A8/Configuration.h

@@ -175,6 +175,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Anet/A8/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/AnyCubic/i3/Configuration.h

@@ -175,6 +175,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)
@@ -403,7 +413,7 @@
   // ANYCUBIC I3 240C and 8 cycles
   #define  DEFAULT_Kp 17.80
   #define  DEFAULT_Ki 0.84
-  #define  DEFAULT_Kd 64.84 
+  #define  DEFAULT_Kd 64.84
 
   // Ultimaker
   //#define DEFAULT_Kp 22.2

Marlin/src/config/examples/AnyCubic/i3/Configuration_adv.h

@@ -2104,6 +2104,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/ArmEd/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/ArmEd/Configuration_adv.h

@@ -2108,6 +2108,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Azteeg/X5GT/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/BIBO/TouchX/cyclops/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/BIBO/TouchX/cyclops/Configuration_adv.h

@@ -2102,6 +2102,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/BIBO/TouchX/default/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/BIBO/TouchX/default/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/BQ/Hephestos/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/BQ/Hephestos/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/BQ/Hephestos_2/Configuration.h

@@ -182,6 +182,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/BQ/Hephestos_2/Configuration_adv.h

@@ -2111,6 +2111,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/BQ/WITBOX/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/BQ/WITBOX/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Cartesio/Configuration.h

@@ -175,6 +175,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Cartesio/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Creality/CR-10/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Creality/CR-10/Configuration_adv.h

@@ -2106,6 +2106,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Creality/CR-10S/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Creality/CR-10S/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Creality/CR-10mini/Configuration.h

@@ -183,6 +183,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Creality/CR-10mini/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Creality/CR-8/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Creality/CR-8/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Creality/Ender-2/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Creality/Ender-2/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Creality/Ender-3/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Creality/Ender-3/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Creality/Ender-4/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Creality/Ender-4/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Einstart-S/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Einstart-S/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Felix/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Felix/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Felix/DUAL/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/FlashForge/CreatorPro/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/FlashForge/CreatorPro/Configuration_adv.h

@@ -2102,6 +2102,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/FolgerTech/i3-2020/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/FolgerTech/i3-2020/Configuration_adv.h

@@ -2111,12 +2111,65 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
-#define PINS_DEBUGGING
+//#define PINS_DEBUGGING
 
 // Enable Marlin dev mode which adds some special commands
 //#define MARLIN_DEV_MODE

Marlin/src/config/examples/Formbot/Raptor/Configuration.h

@@ -215,6 +215,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Formbot/Raptor/Configuration_adv.h

@@ -2107,12 +2107,65 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**
  * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  */
-#define PINS_DEBUGGING
+//#define PINS_DEBUGGING
 
 // Enable Marlin dev mode which adds some special commands
 //#define MARLIN_DEV_MODE

Marlin/src/config/examples/Formbot/T_Rex_2+/Configuration.h

@@ -177,6 +177,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Formbot/T_Rex_2+/Configuration_adv.h

@@ -2118,6 +2118,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Formbot/T_Rex_3/Configuration.h

@@ -178,6 +178,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Formbot/T_Rex_3/Configuration_adv.h

@@ -2113,6 +2113,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Geeetech/GT2560/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Geeetech/I3_Pro_X-GT2560/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Geeetech/MeCreator2/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Geeetech/MeCreator2/Configuration_adv.h

@@ -2089,6 +2089,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Geeetech/Prusa i3 Pro C/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Geeetech/Prusa i3 Pro C/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Geeetech/Prusa i3 Pro W/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Geeetech/Prusa i3 Pro W/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Infitary/i3-M508/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Infitary/i3-M508/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/JGAurora/A5/Configuration.h

@@ -179,6 +179,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/JGAurora/A5/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/MakerParts/Configuration.h

@@ -194,6 +194,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/MakerParts/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Malyan/M150/Configuration.h

@@ -179,6 +179,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Malyan/M150/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Malyan/M200/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Malyan/M200/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Micromake/C1/basic/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Micromake/C1/enhanced/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Micromake/C1/enhanced/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Mks/Robin/Configuration.h

@@ -175,6 +175,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Mks/Robin/Configuration_adv.h

@@ -2104,6 +2104,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Mks/Sbase/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Mks/Sbase/Configuration_adv.h

@@ -2111,6 +2111,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/RapideLite/RL200/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/RapideLite/RL200/Configuration_adv.h

@@ -2104,6 +2104,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/RepRapPro/Huxley/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/RepRapWorld/Megatronics/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/RigidBot/Configuration.h

@@ -177,6 +177,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/RigidBot/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/SCARA/Configuration.h

@@ -205,6 +205,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/SCARA/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/STM32F10/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/STM32F4/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Sanguinololu/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Sanguinololu/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/TheBorg/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/TheBorg/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/TinyBoy2/Configuration.h

@@ -196,6 +196,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/TinyBoy2/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Tronxy/X1/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Tronxy/X3A/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Tronxy/X3A/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Tronxy/X5S/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Tronxy/XY100/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/UltiMachine/Archim1/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/UltiMachine/Archim1/Configuration_adv.h

@@ -2104,6 +2104,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/UltiMachine/Archim2/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/UltiMachine/Archim2/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/VORONDesign/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/VORONDesign/Configuration_adv.h

@@ -2104,6 +2104,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Velleman/K8200/Configuration.h

@@ -194,6 +194,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Velleman/K8200/Configuration_adv.h

@@ -2116,6 +2116,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Velleman/K8400/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Velleman/K8400/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Velleman/K8400/Dual-head/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/WASP/PowerWASP/Configuration.h

@@ -193,6 +193,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/WASP/PowerWASP/Configuration_adv.h

@@ -2104,6 +2104,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/Wanhao/Duplicator 6/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/Wanhao/Duplicator 6/Configuration_adv.h

@@ -2105,6 +2105,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/adafruit/ST7565/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/delta/Anycubic/Kossel/Configuration.h

@@ -189,6 +189,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/delta/Anycubic/Kossel/Configuration_adv.h

@@ -2105,6 +2105,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration_adv.h

@@ -2105,6 +2105,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/delta/FLSUN/kossel/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/delta/FLSUN/kossel/Configuration_adv.h

@@ -2105,6 +2105,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration_adv.h

@@ -2105,6 +2105,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/delta/Geeetech/Rostock 301/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/delta/Geeetech/Rostock 301/Configuration_adv.h

@@ -2106,6 +2106,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/delta/Hatchbox_Alpha/Configuration.h

@@ -179,6 +179,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/delta/MKS/SBASE/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/delta/MKS/SBASE/Configuration_adv.h

@@ -2105,6 +2105,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/delta/Tevo Little Monster/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/delta/Tevo Little Monster/Configuration_adv.h

@@ -2093,6 +2093,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/delta/generic/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/delta/generic/Configuration_adv.h

@@ -2105,6 +2105,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/delta/kossel_mini/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/delta/kossel_mini/Configuration_adv.h

@@ -2105,6 +2105,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/delta/kossel_pro/Configuration.h

@@ -178,6 +178,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/delta/kossel_xl/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/delta/kossel_xl/Configuration_adv.h

@@ -2105,6 +2105,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/gCreate/gMax1.5+/Configuration.h

@@ -179,6 +179,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/gCreate/gMax1.5+/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/makibox/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/makibox/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/stm32f103ret6/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/tvrrug/Round2/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/tvrrug/Round2/Configuration_adv.h

@@ -2103,6 +2103,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/config/examples/wt150/Configuration.h

@@ -174,6 +174,16 @@
   //#define E_MUX2_PIN 44  // Needed for 5 to 8 inputs
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ *
+ * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
+ * Requires EXTRUDERS = 5
+ *
+ * For additional configuration see Configuration_adv.h
+ */
+//#define PRUSA_MMU2
+
 // A dual extruder that uses a single stepper motor
 //#define SWITCHING_EXTRUDER
 #if ENABLED(SWITCHING_EXTRUDER)

Marlin/src/config/examples/wt150/Configuration_adv.h

@@ -2104,6 +2104,59 @@
   #define WIFI_PWD  "Wifi Password"
 #endif
 
+/**
+ * Prusa Multi-Material Unit v2
+ * Enable in Configuration.h
+ */
+#if ENABLED(PRUSA_MMU2)
+
+  // Serial port used for communication with MMU2.
+  // For AVR enable the UART port used for the MMU. (e.g., internalSerial)
+  // For 32-bit boards check your HAL for available serial ports. (e.g., Serial2)
+  #define INTERNAL_SERIAL_PORT 2
+  #define MMU2_SERIAL internalSerial
+
+  // Use hardware reset for MMU if a pin is defined for it
+  //#define MMU2_RST_PIN 23
+
+  // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up)
+  //#define MMU2_MODE_12V
+
+  // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout
+  #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600"
+
+  // Add an LCD menu for MMU2
+  //#define MMU2_MENUS
+  #if ENABLED(MMU2_MENUS)
+    // Settings for filament load / unload from the LCD menu.
+    // This is for Prusa MK3-style extruders. Customize for your hardware.
+    #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
+    #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
+      {  7.2,  562 }, \
+      { 14.4,  871 }, \
+      { 36.0, 1393 }, \
+      { 14.4,  871 }, \
+      { 50.0,  198 }
+
+    #define MMU2_RAMMING_SEQUENCE \
+      {   1.0, 1000 }, \
+      {   1.0, 1500 }, \
+      {   2.0, 2000 }, \
+      {   1.5, 3000 }, \
+      {   2.5, 4000 }, \
+      { -15.0, 5000 }, \
+      { -14.0, 1200 }, \
+      {  -6.0,  600 }, \
+      {  10.0,  700 }, \
+      { -10.0,  400 }, \
+      { -50.0, 2000 }
+
+  #endif
+
+  //#define MMU2_DEBUG  // Write debug info to serial output
+
+#endif // PRUSA_MMU2
+
 // @section develop
 
 /**

Marlin/src/feature/prusa_MMU2/mmu2.cpp

@@ -0,0 +1,898 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(PRUSA_MMU2)
+
+#include "mmu2.h"
+#include "mmu2_menu.h"
+
+MMU2 mmu2;
+
+#include "../../gcode/gcode.h"
+#include "../../lcd/ultralcd.h"
+#include "../../libs/buzzer.h"
+#include "../../libs/nozzle.h"
+#include "../../module/temperature.h"
+#include "../../module/planner.h"
+#include "../../module/stepper_indirection.h"
+#include "../../Marlin.h"
+
+#if ENABLED(FILAMENT_RUNOUT_SENSOR)
+  #include "../runout.h"
+#endif
+
+#define MMU_TODELAY 100
+#define MMU_TIMEOUT 10
+#define MMU_CMD_TIMEOUT 60000ul //5min timeout for mmu commands (except P0)
+#define MMU_P0_TIMEOUT 3000ul //timeout for P0 command: 3seconds
+
+#define MMU_CMD_NONE 0
+#define MMU_CMD_T0   0x10
+#define MMU_CMD_T1   0x11
+#define MMU_CMD_T2   0x12
+#define MMU_CMD_T3   0x13
+#define MMU_CMD_T4   0x14
+#define MMU_CMD_L0   0x20
+#define MMU_CMD_L1   0x21
+#define MMU_CMD_L2   0x22
+#define MMU_CMD_L3   0x23
+#define MMU_CMD_L4   0x24
+#define MMU_CMD_C0   0x30
+#define MMU_CMD_U0   0x40
+#define MMU_CMD_E0   0x50
+#define MMU_CMD_E1   0x51
+#define MMU_CMD_E2   0x52
+#define MMU_CMD_E3   0x53
+#define MMU_CMD_E4   0x54
+#define MMU_CMD_R0   0x60
+#define MMU_CMD_F0   0x70
+#define MMU_CMD_F1   0x71
+#define MMU_CMD_F2   0x72
+#define MMU_CMD_F3   0x73
+#define MMU_CMD_F4   0x74
+
+#if ENABLED(MMU2_MODE_12V)
+  #define MMU_REQUIRED_FW_BUILDNR 132
+#else
+  #define MMU_REQUIRED_FW_BUILDNR 126
+#endif
+
+#define MMU2_NO_TOOL 99
+#define MMU_BAUD    115200
+
+#define mmuSerial   MMU2_SERIAL
+
+bool MMU2::enabled, MMU2::ready, MMU2::mmu_print_saved;
+uint8_t MMU2::cmd, MMU2::cmd_arg, MMU2::last_cmd, MMU2::extruder;
+int8_t MMU2::state = 0;
+volatile int8_t MMU2::finda = 1;
+volatile bool MMU2::findaRunoutValid;
+int16_t MMU2::version = -1, MMU2::buildnr = -1;
+millis_t MMU2::next_request, MMU2::next_response;
+char MMU2::rx_buffer[16], MMU2::tx_buffer[16];
+
+#if HAS_LCD_MENU && ENABLED(MMU2_MENUS)
+
+  struct E_Step {
+    float extrude;    //!< extrude distance in mm
+    float feedRate;   //!< feed rate in mm/s
+  };
+
+  static constexpr E_Step ramming_sequence[] PROGMEM = { MMU2_RAMMING_SEQUENCE };
+  static constexpr E_Step loadToNozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE };
+
+#endif // MMU2_MENUS
+
+MMU2::MMU2() {
+  rx_buffer[0] = '\0';
+}
+
+void MMU2::init() {
+  findaRunoutValid = false;
+
+  #if PIN_EXISTS(MMU2_RST)
+    // TODO use macros for this
+    WRITE(MMU2_RST_PIN, HIGH);
+    SET_OUTPUT(MMU2_RST_PIN);
+  #endif
+
+  mmuSerial.begin(MMU_BAUD);
+  extruder = MMU2_NO_TOOL;
+
+  safe_delay(10);
+  reset();
+  rx_buffer[0] = '\0';
+  state = -1;
+}
+
+void MMU2::reset() {
+  #if ENABLED(MMU2_DEBUG)
+    SERIAL_ECHOLNPGM("MMU <= reset");
+  #endif
+
+  #if PIN_EXISTS(MMU2_RST)
+    WRITE(MMU2_RST_PIN, LOW);
+    safe_delay(20);
+    WRITE(MMU2_RST_PIN, HIGH);
+  #else
+    tx_str_P(PSTR("X0\n")); // Send soft reset
+  #endif
+}
+
+uint8_t MMU2::getCurrentTool() {
+  return extruder == MMU2_NO_TOOL ? -1 : extruder;
+}
+
+void MMU2::mmuLoop() {
+
+  switch (state) {
+
+    case 0: break;
+
+    case -1:
+      if (rx_start()) {
+        #if ENABLED(MMU2_DEBUG)
+          SERIAL_ECHOLNPGM("MMU => 'start'");
+          SERIAL_ECHOLNPGM("MMU <= 'S1'");
+        #endif
+
+        // send "read version" request
+        tx_str_P(PSTR("S1\n"));
+
+        state = -2;
+      }
+      else if (millis() > 3000000) {
+        SERIAL_ECHOLNPGM("MMU not responding - DISABLED");
+        state = 0;
+      }
+      break;
+
+    case -2:
+      if (rx_ok()) {
+        sscanf(rx_buffer, "%uok\n", &version);
+
+        #if ENABLED(MMU2_DEBUG)
+          SERIAL_ECHOLNPAIR("MMU => ", version);
+          SERIAL_ECHOLNPGM("MMU <= 'S2'");
+        #endif
+
+        tx_str_P(PSTR("S2\n")); // read build number
+        state = -3;
+      }
+      break;
+
+    case -3:
+      if (rx_ok()) {
+        sscanf(rx_buffer, "%uok\n", &buildnr);
+        #if ENABLED(MMU2_DEBUG)
+          SERIAL_ECHOLNPAIR("MMU => ", buildnr);
+        #endif
+
+        checkVersion();
+
+        #if ENABLED(MMU2_MODE_12V)
+          #if ENABLED(MMU2_DEBUG)
+            SERIAL_ECHOLNPGM("MMU <= 'M1'");
+          #endif
+
+          tx_str_P(PSTR("M1\n")); // switch to stealth mode
+          state = -5;
+
+        #else
+          #if ENABLED(MMU2_DEBUG)
+            SERIAL_ECHOLNPGM("MMU <= 'P0'");
+          #endif
+
+          tx_str_P(PSTR("P0\n")); // read finda
+          state = -4;
+        #endif
+      }
+      break;
+
+    case -5:
+      // response to M1
+      if (rx_ok()) {
+        #if ENABLED(MMU2_DEBUG)
+          SERIAL_ECHOLNPGM("MMU => ok");
+        #endif
+
+        checkVersion();
+
+        #if ENABLED(MMU2_DEBUG)
+          SERIAL_ECHOLNPGM("MMU <= 'P0'");
+        #endif
+
+        tx_str_P(PSTR("P0\n")); // read finda
+        state = -4;
+      }
+      break;
+
+    case -4: 
+      if (rx_ok()) {
+        sscanf(rx_buffer, "%hhuok\n", &finda);
+
+        #if ENABLED(MMU2_DEBUG)
+          SERIAL_ECHOLNPAIR("MMU => ", finda);
+          SERIAL_ECHOLNPGM("MMU - ENABLED");
+        #endif
+
+        enabled = true;
+        state = 1;
+      }
+      break;
+
+    case 1:
+      if (cmd) {
+        if (WITHIN(cmd, MMU_CMD_T0, MMU_CMD_T4)) {
+          // tool change
+          int filament = cmd - MMU_CMD_T0;
+
+          #if ENABLED(MMU2_DEBUG)
+            SERIAL_ECHOLNPAIR("MMU <= T", filament);
+          #endif
+
+          tx_printf_P(PSTR("T%d\n"), filament);
+          state = 3; // wait for response
+        }
+        else if (WITHIN(cmd, MMU_CMD_L0, MMU_CMD_L4)) {
+          // load
+          int filament = cmd - MMU_CMD_L0;
+
+          #if ENABLED(MMU2_DEBUG)
+            SERIAL_ECHOLNPAIR("MMU <= L", filament);
+          #endif
+
+          tx_printf_P(PSTR("L%d\n"), filament);
+          state = 3; // wait for response
+        }
+        else if (cmd == MMU_CMD_C0) {
+          // continue loading
+
+          #if ENABLED(MMU2_DEBUG)
+            SERIAL_ECHOLNPGM("MMU <= 'C0'");
+          #endif
+
+          tx_str_P(PSTR("C0\n"));
+          state = 3; // wait for response
+        }
+        else if (cmd == MMU_CMD_U0) {
+          // unload current
+          #if ENABLED(MMU2_DEBUG)
+            SERIAL_ECHOLNPGM("MMU <= 'U0'");
+          #endif
+
+          tx_str_P(PSTR("U0\n"));
+          state = 3; // wait for response
+        }
+        else if (WITHIN(cmd, MMU_CMD_E0, MMU_CMD_E4)) {
+          // eject filament
+          int filament = cmd - MMU_CMD_E0;
+
+          #if ENABLED(MMU2_DEBUG)
+            SERIAL_ECHOLNPAIR("MMU <= E", filament);
+          #endif
+          tx_printf_P(PSTR("E%d\n"), filament);
+          state = 3; // wait for response
+        }
+        else if (cmd == MMU_CMD_R0) {
+          // recover after eject
+          #if ENABLED(MMU2_DEBUG)
+            SERIAL_ECHOLNPGM("MMU <= 'R0'");
+          #endif
+
+          tx_str_P(PSTR("R0\n"));
+          state = 3; // wait for response
+        }
+        else if (WITHIN(cmd, MMU_CMD_F0, MMU_CMD_F4)) {
+          // filament type
+          int filament = cmd - MMU_CMD_F0;
+          #if ENABLED(MMU2_DEBUG)
+            SERIAL_ECHOPAIR("MMU <= F", filament);
+            SERIAL_ECHOPGM(" ");
+            SERIAL_ECHO_F(cmd_arg, DEC);
+            SERIAL_ECHOPGM("\n");
+          #endif
+
+          tx_printf_P(PSTR("F%d %d\n"), filament, cmd_arg);
+          state = 3; // wait for response
+        }
+
+        last_cmd = cmd;
+        cmd = MMU_CMD_NONE;
+      }
+      else if (ELAPSED(millis(), next_response)) {
+        // read FINDA
+        tx_str_P(PSTR("P0\n"));
+        state = 2; // wait for response
+      }
+      break;
+
+    case 2:   // response to command P0
+      if (rx_ok()) {
+        sscanf(rx_buffer, "%hhuok\n", &finda);
+
+        #if ENABLED(MMU2_DEBUG)
+          // This is super annoying. Only activate if necessary
+          /*
+            if (findaRunoutValid) {
+              SERIAL_ECHOLNPGM("MMU <= 'P0'");
+              SERIAL_ECHOPGM("MMU => ");
+              SERIAL_ECHO_F(finda, DEC);
+              SERIAL_ECHOPGM("\n");
+            }
+          */
+        #endif
+
+        state = 1;
+
+        if (cmd == 0) ready = true;
+
+        if (!finda && findaRunoutValid) filamentRunout();
+      }
+      else if (ELAPSED(millis(), next_request)) // Resend request after timeout (30s)
+        state = 1;
+
+      break;
+
+    case 3:   // response to mmu commands
+      if (rx_ok()) {
+        #if ENABLED(MMU2_DEBUG)
+          SERIAL_ECHOLNPGM("MMU => 'ok'");
+        #endif
+
+        ready = true;
+        state = 1;
+        last_cmd = MMU_CMD_NONE;
+      }
+      else if (ELAPSED(millis(), next_request)) {
+        // resend request after timeout
+        if (last_cmd) {
+          #if ENABLED(MMU2_DEBUG)
+            SERIAL_ECHOLNPGM("MMU retry");
+          #endif
+
+          cmd = last_cmd;
+          last_cmd = MMU_CMD_NONE;
+        }
+        state = 1;
+      }
+      break;
+  }
+}
+
+
+/**
+ * Check if MMU was started
+ */
+bool MMU2::rx_start() {
+  // check for start message
+  if (rx_str_P(PSTR("start\n"))) {
+    next_response = millis() + 300;
+    return true;
+  }
+  return false;
+}
+
+
+/**
+ * Check if the data received ends with the given string.
+ */
+bool MMU2::rx_str_P(const char* str) {
+  uint8_t i = strlen(rx_buffer);
+
+  while (mmuSerial.available()) {
+    rx_buffer[i++] = mmuSerial.read();
+    rx_buffer[i] = '\0';
+
+    if (i == sizeof(rx_buffer) - 1) {
+      #if ENABLED(MMU2_DEBUG)
+        SERIAL_ECHOLNPGM("rx buffer overrun");
+      #endif
+
+      break;
+    }
+  }
+
+  uint8_t len = strlen_P(str);
+
+  if (i < len) return false;
+
+  str += len;
+
+  while (len--) {
+    char c0 = pgm_read_byte(str--), c1 = rx_buffer[i--];
+    if (c0 == c1) continue;
+    if (c0 == '\r' && c1 == '\n') continue;  // match cr as lf
+    if (c0 == '\n' && c1 == '\r') continue;  // match lf as cr
+    return false;
+  }
+  return true;
+}
+
+
+/**
+ * Transfer data to MMU, no argument
+ */
+void MMU2::tx_str_P(const char* str) {
+  clear_rx_buffer();
+  uint8_t len = strlen_P(str);
+  for (uint8_t i = 0; i < len; i++) mmuSerial.write(pgm_read_byte(str++));
+  rx_buffer[0] = '\0';
+  next_request = millis() + MMU_P0_TIMEOUT;
+}
+
+
+/**
+ * Transfer data to MMU, single argument
+ */
+void MMU2::tx_printf_P(const char* format, int argument = -1) {
+  clear_rx_buffer();
+  uint8_t len = sprintf_P(tx_buffer, format, argument);
+  for (uint8_t i = 0; i < len; i++) mmuSerial.write(tx_buffer[i]);
+  rx_buffer[0] = '\0';
+  next_request = millis() + MMU_P0_TIMEOUT;
+}
+
+
+/**
+ * Transfer data to MMU, two arguments
+ */
+void MMU2::tx_printf_P(const char* format, int argument1, int argument2) {
+  clear_rx_buffer();
+  uint8_t len = sprintf_P(tx_buffer, format, argument1, argument2);
+  for (uint8_t i = 0; i < len; i++) mmuSerial.write(tx_buffer[i]);
+  rx_buffer[0] = '\0';
+  next_request = millis() + MMU_P0_TIMEOUT;
+}
+
+
+/**
+ * Empty the rx buffer
+ */
+void MMU2::clear_rx_buffer() {
+  while (mmuSerial.available()) mmuSerial.read();
+  rx_buffer[0] = '\0';
+}
+
+
+/**
+ * Check if we received 'ok' from MMU
+ */
+bool MMU2::rx_ok() {
+  if (rx_str_P(PSTR("ok\n"))) {
+    next_response = millis() + 300;
+    return true;
+  }
+  return false;
+}
+
+
+/**
+ * Check if MMU has compatible firmware
+ */
+void MMU2::checkVersion() {
+  if (buildnr < MMU_REQUIRED_FW_BUILDNR) {
+    SERIAL_ERROR_START();
+    SERIAL_ECHOPGM("MMU2 firmware version invalid. Required version >= ");
+    SERIAL_ECHOLN(MMU_REQUIRED_FW_BUILDNR);
+    kill(MSG_MMU2_WRONG_FIRMWARE);
+  }
+}
+
+
+/**
+ * Handle tool change
+ */
+void MMU2::toolChange(uint8_t index) {
+
+  if (!enabled) return;
+
+  findaRunoutValid = false;
+
+  if (index != extruder) {
+
+    KEEPALIVE_STATE(IN_HANDLER);
+    disable_E0();
+    ui.status_printf_P(0, PSTR(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
+
+    command(MMU_CMD_T0 + index);
+
+    manageResponse(true, true);
+    KEEPALIVE_STATE(IN_HANDLER);
+
+    command(MMU_CMD_C0);
+    extruder = index; //filament change is finished
+    active_extruder = 0;
+
+    enable_E0();
+
+    SERIAL_ECHO_START();
+    SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, int(extruder));
+
+    ui.reset_status();
+    KEEPALIVE_STATE(NOT_BUSY);
+  }
+
+  findaRunoutValid = true;
+}
+
+
+/**
+ *
+ * Handle special T?/Tx/Tc commands
+ *
+ * T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
+ * Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
+ * Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated.
+ *
+ */
+void MMU2::toolChange(const char* special) {
+
+  if (!enabled) return;
+
+  #if ENABLED(MMU2_MENUS)
+
+    findaRunoutValid = false;
+    KEEPALIVE_STATE(IN_HANDLER);
+
+    switch(*special) {
+      case '?': {
+        uint8_t index = mmu2_chooseFilament();
+        while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
+        loadFilamentToNozzle(index);
+      } break;
+
+      case 'x': {
+        planner.synchronize();
+        uint8_t index = mmu2_chooseFilament();
+        disable_E0();
+        command(MMU_CMD_T0 + index);
+        manageResponse(true, true);
+        command(MMU_CMD_C0);
+        mmuLoop();
+
+        enable_E0();
+        extruder = index;
+        active_extruder = 0;
+      } break;
+
+      case 'c': {
+        while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
+        executeExtruderSequence((const E_Step *)loadToNozzle_sequence, COUNT(loadToNozzle_sequence));
+      } break;
+    }
+
+    KEEPALIVE_STATE(NOT_BUSY);
+
+    findaRunoutValid = true;
+
+  #endif
+}
+
+
+/**
+ * Set next command
+ */
+void MMU2::command(const uint8_t mmu_cmd) {
+  if (!enabled) return;
+  cmd = mmu_cmd;
+  ready = false;
+}
+
+
+/**
+ * Wait for response from MMU
+ */
+bool MMU2::getResponse(void) {
+  while (cmd != MMU_CMD_NONE) idle();
+
+  while (!ready) {
+    idle();
+    if (state != 3) break;
+  }
+
+  const bool ret = ready;
+  ready = false;
+
+  return ret;
+}
+
+
+/**
+ * Wait for response and deal with timeout if nexcessary
+ */
+void MMU2::manageResponse(bool move_axes, bool turn_off_nozzle) {
+
+  bool response = false;
+  mmu_print_saved = false;
+  point_t park_point = NOZZLE_PARK_POINT;
+  float resume_position[XYZE];
+  int16_t resume_hotend_temp;
+
+  while (!response) {
+
+    response = getResponse(); //wait for "ok" from mmu
+
+    if (!response) { //no "ok" was received in reserved time frame, user will fix the issue on mmu unit
+      if (!mmu_print_saved) { //first occurence, we are saving current position, park print head in certain position and disable nozzle heater
+
+        planner.synchronize();
+
+        mmu_print_saved = true;
+
+        SERIAL_ECHOLNPGM("MMU not responding");
+
+        resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
+        COPY(resume_position, current_position);
+
+        if (move_axes && all_axes_homed())
+          Nozzle::park(2, park_point /*= NOZZLE_PARK_POINT*/);
+
+        if (turn_off_nozzle) thermalManager.setTargetHotend(0, active_extruder);
+
+        LCD_MESSAGEPGM(MSG_MMU2_NOT_RESPONDING);
+        BUZZ(100, 659);
+        BUZZ(200, 698);
+        BUZZ(100, 659);
+        BUZZ(300, 440);
+        BUZZ(100, 659);
+
+        KEEPALIVE_STATE(PAUSED_FOR_USER);
+      }
+    }
+    else if (mmu_print_saved) {
+      SERIAL_ECHOLNPGM("MMU starts responding\n");
+      KEEPALIVE_STATE(IN_HANDLER);
+
+      if (turn_off_nozzle && resume_hotend_temp) {
+        thermalManager.setTargetHotend(resume_hotend_temp, active_extruder);
+        LCD_MESSAGEPGM(MSG_HEATING);
+        BUZZ(200, 40);
+
+        while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(1000);
+      }
+
+      if (move_axes && all_axes_homed()) {
+        LCD_MESSAGEPGM(MSG_MMU2_RESUMING);
+        BUZZ(200, 404);
+        BUZZ(200, 404);
+
+        // Move XY to starting position, then Z
+        do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], NOZZLE_PARK_XY_FEEDRATE);
+
+        // Move Z_AXIS to saved position
+        do_blocking_move_to_z(resume_position[Z_AXIS], NOZZLE_PARK_Z_FEEDRATE);
+      }
+      else {
+        BUZZ(200, 404);
+        BUZZ(200, 404);
+        LCD_MESSAGEPGM(MSG_MMU2_RESUMING);
+      }
+    }
+  }
+}
+
+void MMU2::setFilamentType(uint8_t index, uint8_t filamentType) {
+  if (!enabled) return;
+
+  KEEPALIVE_STATE(IN_HANDLER);
+
+  cmd_arg = filamentType;
+  command(MMU_CMD_F0 + index);
+
+  manageResponse(true, true);
+
+  KEEPALIVE_STATE(NOT_BUSY);
+}
+
+void MMU2::filamentRunout() {
+  enqueue_and_echo_commands_P(PSTR(MMU2_FILAMENT_RUNOUT_SCRIPT));
+  planner.synchronize();
+}
+
+#if HAS_LCD_MENU && ENABLED(MMU2_MENUS)
+
+  // Load filament into MMU2
+  void MMU2::loadFilament(uint8_t index) {
+    if (!enabled) return;
+    command(MMU_CMD_L0 + index);
+    manageResponse(false, false);
+    BUZZ(200, 404);
+  }
+
+  /**
+   *
+   * Switch material and load to nozzle
+   *
+   */
+  bool MMU2::loadFilamentToNozzle(uint8_t index) {
+
+    if (!enabled) return false;
+
+    if (thermalManager.tooColdToExtrude(active_extruder)) {
+      BUZZ(200, 404);
+      LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
+      return false;
+    }
+    else {
+      KEEPALIVE_STATE(IN_HANDLER);
+
+      command(MMU_CMD_T0 + index);
+      manageResponse(true, true);
+      command(MMU_CMD_C0);
+      mmuLoop();
+
+      extruder = index;
+      active_extruder = 0;
+
+      loadToNozzle();
+
+      BUZZ(200, 404);
+
+      KEEPALIVE_STATE(NOT_BUSY);
+      return true;
+    }
+  }
+
+  /**
+   *
+   * Load filament to nozzle of multimaterial printer
+   *
+   * This function is used only only after T? (user select filament) and M600 (change filament).
+   * It is not used after T0 .. T4 command (select filament), in such case, gcode is responsible for loading
+   * filament to nozzle.
+   */
+  void MMU2::loadToNozzle() {
+    if (!enabled) return;
+    executeExtruderSequence((const E_Step *)loadToNozzle_sequence, COUNT(loadToNozzle_sequence));
+  }
+
+  bool MMU2::ejectFilament(uint8_t index, bool recover) {
+
+    if (!enabled) return false;
+
+    if (thermalManager.tooColdToExtrude(active_extruder)) {
+      BUZZ(200, 404);
+      LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
+      return false;
+    }
+
+    KEEPALIVE_STATE(IN_HANDLER);
+    LCD_MESSAGEPGM(MSG_MMU2_EJECTING_FILAMENT);
+    const bool saved_e_relative_mode = gcode.axis_relative_modes[E_AXIS];
+    gcode.axis_relative_modes[E_AXIS] = true;
+
+    enable_E0();
+    current_position[E_AXIS] -= MMU2_FILAMENTCHANGE_EJECT_FEED;
+    planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
+    planner.synchronize();
+    command(MMU_CMD_E0 + index);
+    manageResponse(false, false);
+
+    if (recover)  {
+      LCD_MESSAGEPGM(MSG_MMU2_EJECT_RECOVER);
+      BUZZ(200, 404);
+      wait_for_user = true;
+      while (wait_for_user) idle();
+      BUZZ(200, 404);
+      BUZZ(200, 404);
+
+      command(MMU_CMD_R0);
+      manageResponse(false, false);
+    }
+
+    ui.reset_status();
+
+    // no active tool
+    extruder = MMU2_NO_TOOL;
+    findaRunoutValid = false;
+
+    BUZZ(200, 404);
+
+    KEEPALIVE_STATE(NOT_BUSY);
+
+    gcode.axis_relative_modes[E_AXIS] = saved_e_relative_mode;
+
+    disable_E0();
+
+    return true;
+  }
+
+  /**
+   *
+   * unload from hotend and retract to MMU
+   *
+   */
+  bool MMU2::unload() {
+
+    if (!enabled) return false;
+
+    if (thermalManager.tooColdToExtrude(active_extruder)) {
+      BUZZ(200, 404);
+      LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
+      return false;
+    }
+
+    KEEPALIVE_STATE(IN_HANDLER);
+
+    filamentRamming();
+
+    command(MMU_CMD_U0);
+    manageResponse(false, true);
+
+    BUZZ(200, 404);
+
+    // no active tool
+    extruder = MMU2_NO_TOOL;
+    findaRunoutValid = false;
+
+    KEEPALIVE_STATE(NOT_BUSY);
+
+    return true;
+  }
+
+  /**
+   * Unload sequence to optimize shape of the tip of the unloaded filament
+   */
+  void MMU2::filamentRamming() {
+    executeExtruderSequence((const E_Step *)ramming_sequence, sizeof(ramming_sequence) / sizeof(E_Step));
+  }
+
+  void MMU2::executeExtruderSequence(const E_Step * sequence, int steps) {
+
+    planner.synchronize();
+    enable_E0();
+
+    const bool saved_e_relative_mode = gcode.axis_relative_modes[E_AXIS];
+    gcode.axis_relative_modes[E_AXIS] = true;
+
+    const E_Step* step = sequence;
+
+    for (uint8_t i = 0; i < steps; i++) {
+      const float es = pgm_read_float(&(step->extrude)),
+                  fr = pgm_read_float(&(step->feedRate));
+
+      #if ENABLED(MMU2_DEBUG)
+        SERIAL_ECHO_START();
+        SERIAL_ECHOPAIR("E step ", es);
+        SERIAL_CHAR('/');
+        SERIAL_ECHOLN(fr);
+      #endif
+
+      current_position[E_AXIS] += es;
+      planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
+                          current_position[E_AXIS], MMM_TO_MMS(fr), active_extruder);
+      planner.synchronize();
+
+      step++;
+    }
+
+    gcode.axis_relative_modes[E_AXIS] = saved_e_relative_mode;
+
+    disable_E0();
+  }
+
+#endif // HAS_LCD_MENU && MMU2_MENUS
+
+#endif // PRUSA_MMU2

Marlin/src/feature/prusa_MMU2/mmu2.h

@@ -0,0 +1,82 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#pragma once
+
+#include "../../inc/MarlinConfig.h"
+
+struct E_Step;
+
+class MMU2 {
+public:
+  MMU2();
+
+  static void init();
+  static void reset();
+  static void mmuLoop();
+  static void toolChange(uint8_t index);
+  static void toolChange(const char* special);
+  static uint8_t getCurrentTool();
+  static void setFilamentType(uint8_t index, uint8_t type);
+
+  #if HAS_LCD_MENU && ENABLED(MMU2_MENUS)
+    static bool unload();
+    static void loadFilament(uint8_t);
+    static void loadAll();
+    static bool loadFilamentToNozzle(uint8_t index);
+    static bool ejectFilament(uint8_t index, bool recover);
+  #endif
+
+private:
+  static bool rx_str_P(const char* str);
+  static void tx_str_P(const char* str);
+  static void tx_printf_P(const char* format, int argument);
+  static void tx_printf_P(const char* format, int argument1, int argument2);
+  static void clear_rx_buffer();
+
+  static bool rx_ok();
+  static bool rx_start();
+  static void checkVersion();
+
+  static void command(const uint8_t cmd);
+  static bool getResponse(void);
+  static void manageResponse(bool move_axes, bool turn_off_nozzle);
+
+  #if HAS_LCD_MENU && ENABLED(MMU2_MENUS)
+    static void loadToNozzle();
+    static void filamentRamming();
+    static void executeExtruderSequence(const E_Step * sequence, int steps);
+  #endif
+
+  static void filamentRunout();
+
+  static bool enabled, ready, mmu_print_saved;
+  static uint8_t cmd, cmd_arg, last_cmd, extruder;
+  static int8_t state;
+  static volatile int8_t finda;
+  static volatile bool findaRunoutValid;
+  static int16_t version, buildnr;
+  static millis_t next_request, next_response;
+  static char rx_buffer[16], tx_buffer[16];
+};
+
+extern MMU2 mmu2;

Marlin/src/feature/prusa_MMU2/mmu2_menu.cpp

@@ -0,0 +1,215 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_LCD_MENU && ENABLED(MMU2_MENUS)
+
+#include "mmu2.h"
+#include "mmu2_menu.h"
+#include "../../lcd/menu/menu.h"
+
+uint8_t currentTool;
+bool mmuMenuWait;
+
+//
+// Load Filament
+//
+
+void _mmu2_loadFilamentToNozzle(uint8_t index) {
+  ui.reset_status();
+  ui.return_to_status();
+  ui.status_printf_P(0,  PSTR(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
+  if (mmu2.loadFilamentToNozzle(index)) ui.reset_status();
+}
+
+inline void action_mmu2_loadFilamentToNozzle(const uint8_t tool) {
+  _mmu2_loadFilamentToNozzle(tool);
+  ui.return_to_status();
+}
+inline void action_mmu2_loadFilamentToNozzle0() { action_mmu2_loadFilamentToNozzle(0); }
+inline void action_mmu2_loadFilamentToNozzle1() { action_mmu2_loadFilamentToNozzle(1); }
+inline void action_mmu2_loadFilamentToNozzle2() { action_mmu2_loadFilamentToNozzle(2); }
+inline void action_mmu2_loadFilamentToNozzle3() { action_mmu2_loadFilamentToNozzle(3); }
+inline void action_mmu2_loadFilamentToNozzle4() { action_mmu2_loadFilamentToNozzle(4); }
+
+void _mmu2_loadFilament(uint8_t index) {
+  ui.return_to_status();
+  ui.status_printf_P(0, PSTR(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
+  mmu2.loadFilament(index);
+  ui.reset_status();
+}
+void action_mmu2_loadAll() {
+  for (uint8_t i = 0; i < EXTRUDERS; i++)
+    _mmu2_loadFilament(i);
+  ui.return_to_status();
+}
+inline void action_mmu2_loadFilament0() { _mmu2_loadFilament(0); }
+inline void action_mmu2_loadFilament1() { _mmu2_loadFilament(1); }
+inline void action_mmu2_loadFilament2() { _mmu2_loadFilament(2); }
+inline void action_mmu2_loadFilament3() { _mmu2_loadFilament(3); }
+inline void action_mmu2_loadFilament4() { _mmu2_loadFilament(4); }
+
+void menu_mmu2_loadFilament() {
+  START_MENU();
+  MENU_BACK(MSG_MMU2_MENU);
+  MENU_ITEM(function, MSG_MMU2_ALL, action_mmu2_loadAll);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT0, action_mmu2_loadFilament0);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT1, action_mmu2_loadFilament1);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT2, action_mmu2_loadFilament2);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT3, action_mmu2_loadFilament3);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT4, action_mmu2_loadFilament4);
+  END_MENU();
+}
+
+void menu_mmu2_loadToNozzle() {
+  START_MENU();
+  MENU_BACK(MSG_MMU2_MENU);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT0, action_mmu2_loadFilamentToNozzle0);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT1, action_mmu2_loadFilamentToNozzle1);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT2, action_mmu2_loadFilamentToNozzle2);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT3, action_mmu2_loadFilamentToNozzle3);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT4, action_mmu2_loadFilamentToNozzle4);
+  END_MENU();
+}
+
+//
+// Eject Filament
+//
+
+void _mmu2_ejectFilament(uint8_t index) {
+  ui.reset_status();
+  ui.return_to_status();
+  ui.status_printf_P(0, PSTR(MSG_MMU2_EJECTING_FILAMENT), int(index + 1));
+  if (mmu2.ejectFilament(index, true)) ui.reset_status();
+}
+inline void action_mmu2_ejectFilament0() { _mmu2_ejectFilament(0); }
+inline void action_mmu2_ejectFilament1() { _mmu2_ejectFilament(1); }
+inline void action_mmu2_ejectFilament2() { _mmu2_ejectFilament(2); }
+inline void action_mmu2_ejectFilament3() { _mmu2_ejectFilament(3); }
+inline void action_mmu2_ejectFilament4() { _mmu2_ejectFilament(4); }
+
+void action_mmu2_unloadFilament() {
+  ui.reset_status();
+  ui.return_to_status();
+  LCD_MESSAGEPGM(MSG_MMU2_UNLOADING_FILAMENT);
+  idle();
+  if (mmu2.unload()) ui.reset_status();
+}
+
+void menu_mmu2_ejectFilament() {
+  START_MENU();
+  MENU_BACK(MSG_MMU2_MENU);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT0, action_mmu2_ejectFilament0);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT1, action_mmu2_ejectFilament1);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT2, action_mmu2_ejectFilament2);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT3, action_mmu2_ejectFilament3);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT4, action_mmu2_ejectFilament4);
+  END_MENU();
+}
+
+//
+// MMU2 Menu
+//
+
+void action_mmu2_reset() {
+  mmu2.init();
+  ui.reset_status();
+}
+
+void menu_mmu2() {
+  START_MENU();
+  MENU_BACK(MSG_MAIN);
+  MENU_ITEM(submenu, MSG_MMU2_LOAD_FILAMENT, menu_mmu2_loadFilament);
+  MENU_ITEM(submenu, MSG_MMU2_LOAD_TO_NOZZLE, menu_mmu2_loadToNozzle);
+  MENU_ITEM(submenu, MSG_MMU2_EJECT_FILAMENT, menu_mmu2_ejectFilament);
+  MENU_ITEM(function, MSG_MMU2_UNLOAD_FILAMENT, action_mmu2_unloadFilament);
+  MENU_ITEM(function, MSG_MMU2_RESET, action_mmu2_reset);
+  END_MENU();
+}
+
+//
+// T* Choose Filament
+//
+
+inline void action_mmu2_choose(const uint8_t tool) {
+  currentTool = tool;
+  mmuMenuWait = false;
+}
+inline void action_mmu2_choose0() { action_mmu2_choose(0); }
+inline void action_mmu2_choose1() { action_mmu2_choose(1); }
+inline void action_mmu2_choose2() { action_mmu2_choose(2); }
+inline void action_mmu2_choose3() { action_mmu2_choose(3); }
+inline void action_mmu2_choose4() { action_mmu2_choose(4); }
+
+void menu_mmu2_chooseFilament() {
+  START_MENU();
+  #if LCD_HEIGHT > 2
+    STATIC_ITEM(MSG_MMU2_CHOOSE_FILAMENT_HEADER, true, true);
+  #endif
+  MENU_ITEM(function, MSG_MMU2_FILAMENT0, action_mmu2_choose0);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT1, action_mmu2_choose1);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT2, action_mmu2_choose2);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT3, action_mmu2_choose3);
+  MENU_ITEM(function, MSG_MMU2_FILAMENT4, action_mmu2_choose4);
+  END_MENU();
+}
+
+//
+// MMU2 Filament Runout
+//
+
+inline void action_mmu2_M600_loadCurrentFilament()         { mmu2.loadFilament(currentTool); }
+inline void action_mmu2_M600_loadCurrentFilamentToNozzle() { mmu2.loadFilamentToNozzle(currentTool); }
+inline void action_mmu2_M600_unloadFilament()              { mmu2.unload(); }
+inline void action_mmu2_M600_resume()                      { mmuMenuWait = false; }
+
+void menu_mmu2_advanced_pause() {
+  currentTool = mmu2.getCurrentTool();
+  START_MENU();
+  #if LCD_HEIGHT > 2
+    STATIC_ITEM(MSG_MMU2_FILAMENT_CHANGE_HEADER, true, true);
+  #endif
+  MENU_ITEM(function, MSG_MMU2_RESUME, action_mmu2_M600_resume);
+  MENU_ITEM(function, MSG_MMU2_UNLOAD_FILAMENT, action_mmu2_M600_unloadFilament);
+  MENU_ITEM(function, MSG_MMU2_LOAD_FILAMENT, action_mmu2_M600_loadCurrentFilament);
+  MENU_ITEM(function, MSG_MMU2_LOAD_TO_NOZZLE, action_mmu2_M600_loadCurrentFilamentToNozzle);
+  END_MENU();
+}
+
+void mmu2_M600() {
+  ui.defer_status_screen(true);
+  ui.goto_screen(menu_mmu2_advanced_pause);
+  mmuMenuWait = true;
+  while (mmuMenuWait) idle();
+}
+
+uint8_t mmu2_chooseFilament() {
+  ui.defer_status_screen(true);
+  ui.goto_screen(menu_mmu2_chooseFilament);
+  mmuMenuWait = true;
+  while (mmuMenuWait) idle();
+  ui.return_to_status();
+  return currentTool;
+}
+
+#endif //  HAS_LCD_MENU && ENABLED(PRUSA_MMU2_MENUS)

Marlin/src/feature/prusa_MMU2/mmu2_menu.h

@@ -0,0 +1,31 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#pragma once
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_LCD_MENU && ENABLED(MMU2_MENUS)
+  extern void menu_mmu2();
+  extern void mmu2_M600();
+  extern uint8_t mmu2_chooseFilament();
+#endif

Marlin/src/feature/prusa_MMU2/serial-protocol.md

@@ -0,0 +1,94 @@
+Startup sequence
+================
+
+When initialized, MMU sends
+
+- MMU => 'start\n'
+
+We follow with
+
+- MMU <= 'S1\n'
+- MMU => 'ok*Firmware version*\n'
+- MMU <= 'S2\n'
+- MMU => 'ok*Build number*\n'
+
+#if (12V_mode)
+
+- MMU <= 'M1\n'
+- MMU => 'ok\n'
+
+#endif
+
+- MMU <= 'P0\n'
+- MMU => '*FINDA status*\n'
+
+Now we are sure MMU is available and ready. If there was a timeout or other communication problem somewhere, printer will be killed.
+
+- *Firmware version* is an integer value, but we don't care about it
+- *Build number* is an integer value and has to be >=126, or =>132 if 12V mode is enabled
+- *FINDA status* is 1 if the is filament loaded to the extruder, 0 otherwise
+
+
+*Build number* is checked against the required value, if it does not match, printer is halted.
+
+
+
+Toolchange
+==========
+
+- MMU <= 'T*Filament index*\n'
+
+MMU sends
+
+- MMU => 'ok\n'
+
+as soon as the filament is fed down to the extruder. We follow with
+
+- MMU <= 'C0\n'
+
+MMU will feed a few more millimeters of filament for the extruder gears to grab.
+When done, the MMU sends
+
+- MMU => 'ok\n'
+
+We don't wait for a response here but immediately continue with the next gcode which should
+be one or more extruder moves to feed the filament into the hotend.
+
+
+FINDA status
+============
+
+- MMU <= 'P0\n'
+- MMU => '*FINDA status*\n'
+
+*FINDA status* is 1 if the is filament loaded to the extruder, 0 otherwise. This could be used as filament runout sensor if probed regularly.
+
+
+
+Load filament
+=============
+
+- MMU <= 'L*Filament index*\n'
+
+MMU will feed filament down to the extruder, when done
+
+- MMU => 'ok\n'
+
+
+Unload filament
+=============
+
+- MMU <= 'U0\n'
+
+MMU will retract current filament from the extruder, when done
+
+- MMU => 'ok\n'
+
+
+
+Eject filament
+==============
+
+- MMU <= 'E*Filament index*\n'
+- MMU => 'ok\n'
+

Marlin/src/gcode/control/T.cpp

@@ -27,11 +27,21 @@
   #include "../../module/motion.h"
 #endif
 
+#if ENABLED(PRUSA_MMU2)
+  #include "../../feature/prusa_MMU2/mmu2.h"
+#endif
+
 /**
- * T0-T3: Switch tool, usually switching extruders
+ * T0-T<n>: Switch tool, usually switching extruders
  *
  *   F[units/min] Set the movement feedrate
  *   S1           Don't move the tool in XY after change
+ *
+ * For PRUSA_MMU2:
+ *   T[n] Gcode to extrude at least 38.10 mm at feedrate 19.02 mm/s must follow immediately to load to extruder wheels.
+ *   T?   Gcode to extrude shouldn't have to follow. Load to extruder wheels is done automatically.
+ *   Tx   Same as T?, but nozzle doesn't have to be preheated. Tc requires a preheated nozzle to finish filament load.
+ *   Tc   Load to nozzle after filament was prepared by Tc and nozzle is already heated.
  */
 void GcodeSuite::T(const uint8_t tool_index) {
 
@@ -44,6 +54,13 @@ void GcodeSuite::T(const uint8_t tool_index) {
     }
   #endif
 
+  #if ENABLED(PRUSA_MMU2)
+    if (parser.string_arg) {
+      mmu2.toolChange(parser.string_arg);   // Special commands T?/Tx/Tc
+      return;
+    }
+  #endif
+
   #if EXTRUDERS < 2
 
     tool_change(tool_index);

Marlin/src/gcode/feature/pause/M600.cpp

@@ -37,6 +37,10 @@
   #include "../../../lcd/ultralcd.h"
 #endif
 
+#if ENABLED(PRUSA_MMU2)
+  #include "../../../feature/prusa_MMU2/mmu2_menu.h"
+#endif
+
 /**
  * M600: Pause for filament change
  *
@@ -71,7 +75,7 @@ void GcodeSuite::M600() {
   #endif
 
   // Show initial "wait for start" message
-  #if HAS_LCD_MENU
+  #if HAS_LCD_MENU && DISABLED(PRUSA_MMU2)
     lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INIT, ADVANCED_PAUSE_MODE_PAUSE_PRINT, target_extruder);
   #endif
 
@@ -110,16 +114,23 @@ void GcodeSuite::M600() {
     park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0);
   #endif
 
-  // Unload filament
+  #if ENABLED(PRUSA_MMU2)
-  const float unload_length = -ABS(parser.seen('U') ? parser.value_axis_units(E_AXIS)
+    // For MMU2 reset retract and load/unload values so they don't mess with MMU filament handling
-                                                     : fc_settings[active_extruder].unload_length);
+    constexpr float unload_length = 0.5f,
+                    slow_load_length = 0.0f,
+                    fast_load_length = 0.0f;
+  #else
+    // Unload filament
+    const float unload_length = -ABS(parser.seen('U') ? parser.value_axis_units(E_AXIS)
+                                                      : fc_settings[active_extruder].unload_length);
 
-  // Slow load filament
+    // Slow load filament
-  constexpr float slow_load_length = FILAMENT_CHANGE_SLOW_LOAD_LENGTH;
+    constexpr float slow_load_length = FILAMENT_CHANGE_SLOW_LOAD_LENGTH;
 
-  // Fast load filament
+    // Fast load filament
-  const float fast_load_length = ABS(parser.seen('L') ? parser.value_axis_units(E_AXIS)
+    const float fast_load_length = ABS(parser.seen('L') ? parser.value_axis_units(E_AXIS)
-                                                       : fc_settings[active_extruder].load_length);
+                                                        : fc_settings[active_extruder].load_length);
+  #endif
 
   const int beep_count = parser.intval('B',
     #ifdef FILAMENT_CHANGE_ALERT_BEEPS
@@ -130,8 +141,13 @@ void GcodeSuite::M600() {
   );
 
   if (pause_print(retract, park_point, unload_length, true DXC_PASS)) {
-    wait_for_confirmation(true, beep_count DXC_PASS);
+    #if ENABLED(PRUSA_MMU2)
-    resume_print(slow_load_length, fast_load_length, ADVANCED_PAUSE_PURGE_LENGTH, beep_count DXC_PASS);
+      mmu2_M600();
+      resume_print(slow_load_length, fast_load_length, 0, beep_count DXC_PASS);
+    #else
+      wait_for_confirmation(true, beep_count DXC_PASS);
+      resume_print(slow_load_length, fast_load_length, ADVANCED_PAUSE_PURGE_LENGTH, beep_count DXC_PASS);
+    #endif
   }
 
   #if EXTRUDERS > 1

Marlin/src/gcode/feature/pause/M701_M702.cpp

@@ -38,6 +38,10 @@
   #include "../../../lcd/ultralcd.h"
 #endif
 
+#if ENABLED(PRUSA_MMU2)
+  #include "../../../feature/prusa_MMU2/mmu2.h"
+#endif
+
 /**
  * M701: Load filament
  *
@@ -67,7 +71,7 @@ void GcodeSuite::M701() {
     lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_LOAD, ADVANCED_PAUSE_MODE_LOAD_FILAMENT, target_extruder);
   #endif
 
-  #if EXTRUDERS > 1
+  #if EXTRUDERS > 1 && DISABLED(PRUSA_MMU2)
     // Change toolhead if specified
     uint8_t active_extruder_before_filament_change = active_extruder;
     if (active_extruder != target_extruder)
@@ -79,21 +83,25 @@ void GcodeSuite::M701() {
     do_blocking_move_to_z(MIN(current_position[Z_AXIS] + park_point.z, Z_MAX_POS), NOZZLE_PARK_Z_FEEDRATE);
 
   // Load filament
-  constexpr float slow_load_length = FILAMENT_CHANGE_SLOW_LOAD_LENGTH;
+  #if ENABLED(PRUSA_MMU2)
-  const float fast_load_length = ABS(parser.seen('L') ? parser.value_axis_units(E_AXIS)
+    mmu2.loadFilamentToNozzle(target_extruder);
-                                                       : fc_settings[active_extruder].load_length);
+  #else
-  load_filament(slow_load_length, fast_load_length, ADVANCED_PAUSE_PURGE_LENGTH, FILAMENT_CHANGE_ALERT_BEEPS,
+    constexpr float slow_load_length = FILAMENT_CHANGE_SLOW_LOAD_LENGTH;
-                true, thermalManager.still_heating(target_extruder), ADVANCED_PAUSE_MODE_LOAD_FILAMENT
+    const float fast_load_length = ABS(parser.seen('L') ? parser.value_axis_units(E_AXIS)
-                #if ENABLED(DUAL_X_CARRIAGE)
+                                                        : fc_settings[active_extruder].load_length);
-                  , target_extruder
+    load_filament(slow_load_length, fast_load_length, ADVANCED_PAUSE_PURGE_LENGTH, FILAMENT_CHANGE_ALERT_BEEPS,
-                #endif
+                  true, thermalManager.still_heating(target_extruder), ADVANCED_PAUSE_MODE_LOAD_FILAMENT
-              );
+                  #if ENABLED(DUAL_X_CARRIAGE)
+                    , target_extruder
+                  #endif
+                );
+  #endif
 
   // Restore Z axis
   if (park_point.z > 0)
     do_blocking_move_to_z(MAX(current_position[Z_AXIS] - park_point.z, 0), NOZZLE_PARK_Z_FEEDRATE);
 
-  #if EXTRUDERS > 1
+  #if EXTRUDERS > 1 && DISABLED(PRUSA_MMU2)
     // Restore toolhead if it was changed
     if (active_extruder_before_filament_change != active_extruder)
       tool_change(active_extruder_before_filament_change, 0, false);
@@ -134,7 +142,7 @@ void GcodeSuite::M702() {
     lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_UNLOAD, ADVANCED_PAUSE_MODE_UNLOAD_FILAMENT, target_extruder);
   #endif
 
-  #if EXTRUDERS > 1
+  #if EXTRUDERS > 1 && DISABLED(PRUSA_MMU2)
     // Change toolhead if specified
     uint8_t active_extruder_before_filament_change = active_extruder;
     if (active_extruder != target_extruder)
@@ -146,28 +154,32 @@ void GcodeSuite::M702() {
     do_blocking_move_to_z(MIN(current_position[Z_AXIS] + park_point.z, Z_MAX_POS), NOZZLE_PARK_Z_FEEDRATE);
 
   // Unload filament
-  #if EXTRUDERS > 1 && ENABLED(FILAMENT_UNLOAD_ALL_EXTRUDERS)
+  #if ENABLED(PRUSA_MMU2)
-    if (!parser.seenval('T')) {
+    mmu2.unload();
-      HOTEND_LOOP() {
+  #else
-        if (e != active_extruder) tool_change(e, 0, false);
+    #if EXTRUDERS > 1 && ENABLED(FILAMENT_UNLOAD_ALL_EXTRUDERS)
-        unload_filament(-fc_settings[e].unload_length, true, ADVANCED_PAUSE_MODE_UNLOAD_FILAMENT);
+      if (!parser.seenval('T')) {
+        HOTEND_LOOP() {
+          if (e != active_extruder) tool_change(e, 0, false);
+          unload_filament(-fc_settings[e].unload_length, true, ADVANCED_PAUSE_MODE_UNLOAD_FILAMENT);
+        }
       }
-    }
+      else
-    else
+    #endif
-  #endif
+    {
-  {
+      // Unload length
-    // Unload length
+      const float unload_length = -ABS(parser.seen('U') ? parser.value_axis_units(E_AXIS)
-    const float unload_length = -ABS(parser.seen('U') ? parser.value_axis_units(E_AXIS)
+                                                        : fc_settings[target_extruder].unload_length);
-                                                      : fc_settings[target_extruder].unload_length);
 
-    unload_filament(unload_length, true, ADVANCED_PAUSE_MODE_UNLOAD_FILAMENT);
+      unload_filament(unload_length, true, ADVANCED_PAUSE_MODE_UNLOAD_FILAMENT);
-  }
+    }
+  #endif
 
   // Restore Z axis
   if (park_point.z > 0)
     do_blocking_move_to_z(MAX(current_position[Z_AXIS] - park_point.z, 0), NOZZLE_PARK_Z_FEEDRATE);
 
-  #if EXTRUDERS > 1
+  #if EXTRUDERS > 1 && DISABLED(PRUSA_MMU2)
     // Restore toolhead if it was changed
     if (active_extruder_before_filament_change != active_extruder)
       tool_change(active_extruder_before_filament_change, 0, false);

Marlin/src/gcode/feature/prusa_MMU2/M403.cpp

@@ -0,0 +1,49 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../../inc/MarlinConfigPre.h"
+
+#if ENABLED(PRUSA_MMU2)
+
+#include "../../gcode.h"
+#include "../../../feature/prusa_MMU2/mmu2.h"
+
+/**
+ * M403: Set filament type for MMU2
+ *
+ * Valid filament type values:
+ *
+ *  0   Default
+ *  1   Flexible
+ *  2   PVA
+ */
+void GcodeSuite::M403() {
+  int8_t index = parser.intval('E', -1),
+         type = parser.intval('F', -1);
+
+  if (WITHIN(index, 0, 4) && WITHIN(type, 0, 2))
+    mmu2.setFilamentType(index, type);
+  else
+    SERIAL_ECHO_MSG("M403 - bad arguments.");
+}
+
+#endif // PRUSA_MMU2

Marlin/src/gcode/gcode.cpp

@@ -557,6 +557,10 @@ void GcodeSuite::process_parsed_command(
         case 402: M402(); break;                                  // M402: Stow probe
       #endif
 
+      #if ENABLED(PRUSA_MMU2)
+        case 403: M403(); break;
+      #endif
+
       #if ENABLED(FILAMENT_WIDTH_SENSOR)
         case 404: M404(); break;                                  // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
         case 405: M405(); break;                                  // M405: Turn on filament sensor for control

Marlin/src/gcode/gcode.h

@@ -191,6 +191,7 @@
  * M400 - Finish all moves.
  * M401 - Deploy and activate Z probe. (Requires a probe)
  * M402 - Deactivate and stow Z probe. (Requires a probe)
+ * M403 - Set filament type for PRUSA MMU2
  * M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
  * M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
  * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
@@ -699,6 +700,10 @@ private:
     static void M402();
   #endif
 
+  #if ENABLED(PRUSA_MMU2)
+    static void M403();
+  #endif
+
   #if ENABLED(FILAMENT_WIDTH_SENSOR)
     static void M404();
     static void M405();

Marlin/src/gcode/parser.cpp

@@ -143,12 +143,27 @@ void GCodeParser::parse(char *p) {
       while (*p == ' ') p++;
 
       // Bail if there's no command code number
-      if (!NUMERIC(*p)) return;
+      // Prusa MMU2 has T?/Tx/Tc commands
+      #if DISABLED(PRUSA_MMU2)
+        if (!NUMERIC(*p)) return;
+      #endif
 
       // Save the command letter at this point
       // A '?' signifies an unknown command
       command_letter = letter;
 
+
+      #if ENABLED(PRUSA_MMU2)
+        if (letter == 'T') {
+          // check for special MMU2 T?/Tx/Tc commands
+          if (*p == '?' || *p == 'x' || *p == 'c') {
+            string_arg = p;
+            return;
+          }
+        }
+      #endif
+
+
       // Get the code number - integer digits only
       codenum = 0;
       do { codenum *= 10, codenum += *p++ - '0'; } while (NUMERIC(*p));

Marlin/src/inc/Conditionals_LCD.h

@@ -368,7 +368,8 @@
  *  E_MANUAL     - Number of E steppers for LCD move options
  *
  */
-#if ENABLED(SWITCHING_EXTRUDER)                               // One stepper for every two EXTRUDERS
+
+#if ENABLED(SWITCHING_EXTRUDER)   // One stepper for every two EXTRUDERS
   #if EXTRUDERS > 4
     #define E_STEPPERS    3
   #elif EXTRUDERS > 2
@@ -385,6 +386,11 @@
 #elif ENABLED(SWITCHING_TOOLHEAD)
   #define E_STEPPERS      EXTRUDERS
   #define E_MANUAL        EXTRUDERS
+#elif ENABLED(PRUSA_MMU2)
+  #define E_STEPPERS 1
+  #ifndef TOOLCHANGE_ZRAISE
+    #define TOOLCHANGE_ZRAISE 0
+  #endif
 #endif
 
 // No inactive extruders with MK2_MULTIPLEXER or SWITCHING_NOZZLE
@@ -392,8 +398,8 @@
   #undef DISABLE_INACTIVE_EXTRUDER
 #endif
 
-// MK2 Multiplexer forces SINGLENOZZLE
+// Prusa MK2 Multiplexer and MMU 2.0 force SINGLENOZZLE
-#if ENABLED(MK2_MULTIPLEXER)
+#if ENABLED(MK2_MULTIPLEXER) || ENABLED(PRUSA_MMU2)
   #define SINGLENOZZLE
 #endif
 

Marlin/src/inc/SanityCheck.h

@@ -2009,3 +2009,16 @@ static_assert(sanity_arr_3[0] > 0 && sanity_arr_3[1] > 0 && sanity_arr_3[2] > 0
 #if ENABLED(BACKLASH_COMPENSATION) && IS_CORE
   #error "BACKLASH_COMPENSATION is incompatible with CORE kinematics."
 #endif
+
+/**
+ * Prusa MMU2 requirements
+ */
+#if ENABLED(PRUSA_MMU2)
+  #if DISABLED(NOZZLE_PARK_FEATURE)
+    #error "PRUSA_MMU2 requires NOZZLE_PARK_FEATURE."
+  #elif EXTRUDERS != 5
+    #error "PRUSA_MMU2 requires EXTRUDERS = 5."
+  #elif DISABLED(ADVANCED_PAUSE_FEATURE)
+    static_assert(NULL == strstr(MMU2_FILAMENT_RUNOUT_SCRIPT, "M600"), "ADVANCED_PAUSE_FEATURE is required to use M600 with PRUSA_MMU2.");
+  #endif
+#endif

Marlin/src/lcd/dogm/status_screen_lite_ST7920.cpp

@@ -402,7 +402,7 @@ void ST7920_Lite_Status_Screen::draw_degree_symbol(uint8_t x, uint8_t y, const b
     const bool    oddChar = x & 1;
     const uint8_t x_word  = x >> 1,
                   y_top   = degree_symbol_y_top,
-                  y_bot   = y_top + sizeof(degree_symbol)/sizeof(degree_symbol[0]);
+                  y_bot   = y_top + COUNT(degree_symbol);
     for (uint8_t i = y_top; i < y_bot; i++) {
       uint8_t byte = pgm_read_byte(p_bytes++);
       set_gdram_address(x_word, i + y * 16);

Marlin/src/lcd/language/language_en.h

@@ -1117,6 +1117,94 @@
   #define MSG_M600_TOO_COLD                   _UxGT("M600: Too cold")
 #endif
 
+#ifndef MSG_MMU2_FILAMENT_CHANGE_HEADER
+  #define MSG_MMU2_FILAMENT_CHANGE_HEADER     _UxGT("FILAMENT CHANGE")
+#endif
+#ifndef MSG_MMU2_CHOOSE_FILAMENT_HEADER
+  #define MSG_MMU2_CHOOSE_FILAMENT_HEADER     _UxGT("CHOOSE FILAMENT")
+#endif
+#ifndef MSG_MMU2_MENU
+  #define MSG_MMU2_MENU                       _UxGT("MMU")
+#endif
+#ifndef MSG_MMU2_WRONG_FIRMWARE
+  #define MSG_MMU2_WRONG_FIRMWARE             _UxGT("Update MMU firmware!")
+#endif
+#ifndef MSG_MMU2_NOT_RESPONDING
+  #define MSG_MMU2_NOT_RESPONDING             _UxGT("MMU needs attention.")
+#endif
+#ifndef MSG_MMU2_RESUME
+  #define MSG_MMU2_RESUME                     _UxGT("Resume print")
+#endif
+#ifndef MSG_MMU2_RESUMING
+  #define MSG_MMU2_RESUMING                   _UxGT("Resuming...")
+#endif
+#ifndef MSG_MMU2_LOAD_FILAMENT
+  #define MSG_MMU2_LOAD_FILAMENT              _UxGT("Load filament")
+#endif
+#ifndef MSG_MMU2_LOAD_ALL
+  #define MSG_MMU2_LOAD_ALL                   _UxGT("Load all")
+#endif
+#ifndef MSG_MMU2_LOAD_TO_NOZZLE
+  #define MSG_MMU2_LOAD_TO_NOZZLE             _UxGT("Load to nozzle")
+#endif
+#ifndef MSG_MMU2_EJECT_FILAMENT
+  #define MSG_MMU2_EJECT_FILAMENT             _UxGT("Eject filament")
+#endif
+#ifndef MSG_MMU2_EJECT_FILAMENT0
+  #define MSG_MMU2_EJECT_FILAMENT0            _UxGT("Eject filament 1")
+#endif
+#ifndef MSG_MMU2_EJECT_FILAMENT1
+  #define MSG_MMU2_EJECT_FILAMENT1            _UxGT("Eject filament 2")
+#endif
+#ifndef MSG_MMU2_EJECT_FILAMENT2
+  #define MSG_MMU2_EJECT_FILAMENT2            _UxGT("Eject filament 3")
+#endif
+#ifndef MSG_MMU2_EJECT_FILAMENT3
+  #define MSG_MMU2_EJECT_FILAMENT3            _UxGT("Eject filament 4")
+#endif
+#ifndef MSG_MMU2_EJECT_FILAMENT4
+  #define MSG_MMU2_EJECT_FILAMENT4            _UxGT("Eject filament 5")
+#endif
+#ifndef MSG_MMU2_UNLOAD_FILAMENT
+  #define MSG_MMU2_UNLOAD_FILAMENT            _UxGT("Unload filament")
+#endif
+#ifndef MSG_MMU2_LOADING_FILAMENT
+  #define MSG_MMU2_LOADING_FILAMENT           _UxGT("Loading fil. %i...")
+#endif
+#ifndef MSG_MMU2_EJECTING_FILAMENT
+  #define MSG_MMU2_EJECTING_FILAMENT          _UxGT("Ejecting fil. ...")
+#endif
+#ifndef MSG_MMU2_UNLOADING_FILAMENT
+  #define MSG_MMU2_UNLOADING_FILAMENT         _UxGT("Unloading fil....")
+#endif
+#ifndef MSG_MMU2_ALL
+  #define MSG_MMU2_ALL                        _UxGT("All")
+#endif
+#ifndef MSG_MMU2_FILAMENT0
+  #define MSG_MMU2_FILAMENT0                  _UxGT("Filament 1")
+#endif
+#ifndef MSG_MMU2_FILAMENT1
+  #define MSG_MMU2_FILAMENT1                  _UxGT("Filament 2")
+#endif
+#ifndef MSG_MMU2_FILAMENT2
+  #define MSG_MMU2_FILAMENT2                  _UxGT("Filament 3")
+#endif
+#ifndef MSG_MMU2_FILAMENT3
+  #define MSG_MMU2_FILAMENT3                  _UxGT("Filament 4")
+#endif
+#ifndef MSG_MMU2_FILAMENT4
+  #define MSG_MMU2_FILAMENT4                  _UxGT("Filament 5")
+#endif
+#ifndef MSG_MMU2_RESET
+  #define MSG_MMU2_RESET                      _UxGT("Reset MMU")
+#endif
+#ifndef MSG_MMU2_RESETTING
+  #define MSG_MMU2_RESETTING                  _UxGT("Resetting MMU...")
+#endif
+#ifndef MSG_MMU2_EJECT_RECOVER
+  #define MSG_MMU2_EJECT_RECOVER              _UxGT("Remove, click")
+#endif
+
 //
 // Filament Change screens show up to 3 lines on a 4-line display
 //                        ...or up to 2 lines on a 3-line display

Marlin/src/lcd/menu/menu_main.cpp

@@ -86,6 +86,10 @@ void menu_abort_confirm() {
   END_MENU();
 }
 
+#if ENABLED(PRUSA_MMU2)
+  #include "../../feature/prusa_MMU2/mmu2_menu.h"
+#endif
+
 void menu_tune();
 void menu_motion();
 void menu_temperature();
@@ -138,6 +142,10 @@ void menu_main() {
 
     MENU_ITEM(submenu, MSG_MOTION, menu_motion);
     MENU_ITEM(submenu, MSG_TEMPERATURE, menu_temperature);
+
+    #if ENABLED(MMU2_MENUS)
+      MENU_ITEM(submenu, MSG_MMU2_MENU, menu_mmu2);
+    #endif
   }
 
   MENU_ITEM(submenu, MSG_CONFIGURATION, menu_configuration);

Marlin/src/module/stepper_indirection.h

@@ -584,6 +584,11 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
     #define   NORM_E_DIR(E)   do{ E0_DIR_WRITE(E ?  INVERT_E0_DIR : !INVERT_E0_DIR); }while(0)
     #define    REV_E_DIR(E)   do{ E0_DIR_WRITE(E ? !INVERT_E0_DIR :  INVERT_E0_DIR); }while(0)
   #endif
+#elif ENABLED(PRUSA_MMU2)
+  #define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
+  #define   NORM_E_DIR(E)   E0_DIR_WRITE(!INVERT_E0_DIR)
+  #define    REV_E_DIR(E)   E0_DIR_WRITE( INVERT_E0_DIR)
+
 #elif ENABLED(MK2_MULTIPLEXER) // One multiplexed stepper driver, reversed on odd index
   #define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
   #define   NORM_E_DIR(E)   do{ E0_DIR_WRITE(TEST(E, 0) ? !INVERT_E0_DIR:  INVERT_E0_DIR); }while(0)

Marlin/src/module/tool_change.cpp

@@ -70,6 +70,10 @@
   #include "../feature/fanmux.h"
 #endif
 
+#if ENABLED(PRUSA_MMU2)
+  #include "../feature/prusa_MMU2/mmu2.h"
+#endif
+
 #if HAS_LCD_MENU
   #include "../lcd/ultralcd.h"
 #endif
@@ -508,6 +512,13 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
       mixer.T(uint_fast8_t(tmp_extruder));
     #endif
 
+  #elif ENABLED(PRUSA_MMU2)
+
+    UNUSED(fr_mm_s); UNUSED(no_move);
+
+    mmu2.toolChange(tmp_extruder);
+
+
   #elif EXTRUDERS < 2
 
     UNUSED(fr_mm_s); UNUSED(no_move);
@@ -714,6 +725,11 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
           do_blocking_move_to_z(destination[Z_AXIS], planner.settings.max_feedrate_mm_s[Z_AXIS]);
         }
       #endif
+
+      #if ENABLED(PRUSA_MMU2)
+        mmu2.toolChange(tmp_extruder);
+      #endif
+
     } // (tmp_extruder != active_extruder)
 
     planner.synchronize();