diff --git a/.travis.yml b/.travis.yml
index e8f314f9..8898b7bf 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -11,15 +11,16 @@ script:
   - bash -x test.sh
   - bash -x build.sh
   - wget https://github.com/prusa3d/caterina/releases/download/V4/Caterina-prusa_mm_control.hex
-  - srec_cat ../MM-control-01-build/MM-control-01.hex.tmp -Intel Caterina-prusa_mm_control.hex -Intel -Output MM-control-01_with_bootloader.hex -Intel
+  - srec_cat ../MM-control-01-build/MM-control-01.hex.tmp -Intel Caterina-prusa_mm_control.hex -Intel -Output MM-control-01_MMUv2_with_bootloader.hex -Intel
   - mv Doxyfile MM-control-01/Doxyfile && cd MM-control-01
   - doxygen && cd ..
 deploy:
   provider: releases
   api_key: $ACCESS_TOKEN
   file:
-    - ../MM-control-01-build/MM-control-01.hex
-    - MM-control-01_with_bootloader.hex
+    - ../MM-control-01-build/MM-control-01_MMUv2.hex
+    - ../MM-control-01_FANTAv1-build/MM-control-01_FANTAv1.hex
+    - MM-control-01_MMUv2_with_bootloader.hex
   skip_cleanup: true
   on:
     tags: true
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 337292da..870a4391 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,29 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.3)
+
+#
+# Command Line Options
+#
+# You should specify those options when invoking CMake. Example:
+# ~~~
+# cmake .. <other options> -DMODEL=FANTAv1
+# ~~~
+
+SET(MODEL_VALID_OPTS "MMUv2" "FANTAv1")
+
+SET(MODEL
+    "MMUv2"
+    CACHE
+    STRING
+    "Select the model for which you want to compile the project (valid values are ${MODEL_VALID_OPTS})."
+    )
+
+# Validate options
+foreach(OPTION "MODEL")
+    if(NOT ${OPTION} IN_LIST ${OPTION}_VALID_OPTS)
+        message(FATAL_ERROR "Invalid ${OPTION} ${${OPTION}}: Valid values are ${${OPTION}_VALID_OPTS}")
+    endif()
+endforeach()
+
 
 SET(CMAKE_SYSTEM_NAME Generic)
 SET(CMAKE_C_COMPILER avr-gcc)
@@ -44,9 +69,16 @@ git_count_parent_commits(GIT_PARENT_COMMITS)
 git_local_changes(GIT_LOCAL_CHANGES)
 
 configure_file(
-${CMAKE_SOURCE_DIR}/MM-control-01/version.h.in
-version.h
+    ${CMAKE_SOURCE_DIR}/MM-control-01/version.h.in
+    version.h
 )
+
+configure_file(
+    ${CMAKE_SOURCE_DIR}/MM-control-01/configuration_${MODEL}.h.in
+    configuration.h
+    COPYONLY
+)
+
 # The 'real' git information file
 set(GITREV_BARE_FILE dirty.h)
 # The temporary git information file
@@ -103,7 +135,7 @@ add_custom_command(
 	COMMAND		${CAT}
 	ARGS		${CMAKE_SOURCE_DIR}/MM-control-01.hex.in
 			MM-control-01.hex.tmp
-			> MM-control-01.hex
+			> MM-control-01_${MODEL}.hex
 	COMMENT		"Generating HEX image"
 	VERBATIM
 )
@@ -126,18 +158,18 @@ add_custom_target(
 
 
 add_custom_command(
-  OUTPUT ${GITREV_TMP}
-  COMMAND ${CMAKE_COMMAND} -E echo_append "#define FW_LOCAL_CHANGES " > ${GITREV_TMP}
-  COMMAND ${GIT_EXECUTABLE} diff-index --quiet HEAD -- && echo 0 >> ${GITREV_TMP} || echo 1 >> ${GITREV_TMP}
-  COMMAND ${CMAKE_COMMAND} -E copy_if_different ${GITREV_TMP} ${GITREV_FILE}
-  COMMAND ${CMAKE_COMMAND} -E remove ${GITREV_TMP}
-  WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-  VERBATIM
+    OUTPUT ${GITREV_TMP}
+    COMMAND ${CMAKE_COMMAND} -E echo_append "#define FW_LOCAL_CHANGES " > ${GITREV_TMP}
+    COMMAND ${GIT_EXECUTABLE} diff-index --quiet HEAD -- && echo 0 >> ${GITREV_TMP} || echo 1 >> ${GITREV_TMP}
+    COMMAND ${CMAKE_COMMAND} -E copy_if_different ${GITREV_TMP} ${GITREV_FILE}
+    COMMAND ${CMAKE_COMMAND} -E remove ${GITREV_TMP}
+    WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    VERBATIM
 )
 
 if ("Windows" STREQUAL CMAKE_HOST_SYSTEM_NAME)
-configure_file(
-${CMAKE_SOURCE_DIR}/build.bat.in
-build.bat
-)
+    configure_file(
+        ${CMAKE_SOURCE_DIR}/build.bat.in
+        build.bat
+     )
 endif()
diff --git a/MM-control-01/configuration_FANTAv1.h.in b/MM-control-01/configuration_FANTAv1.h.in
new file mode 100644
index 00000000..4a553d81
--- /dev/null
+++ b/MM-control-01/configuration_FANTAv1.h.in
@@ -0,0 +1,21 @@
+//! @file
+//! @author Marek Bel
+
+#ifndef CONFIGURATION_H
+#define CONFIGURATION_H
+
+// FANTAv1 configuration
+// edit input file configuration_FANTAv1.h.in
+
+static constexpr int idler_homing_direction = -1;
+
+static constexpr int selector_steps_after_homing = 0;
+static constexpr int idler_steps_after_homing = 533;
+
+static constexpr int idler_steps = -500;
+static constexpr int selector_steps = -828;
+static constexpr int idler_parking_steps = 533;
+static constexpr int pulley_parking_steps = 1500;
+static constexpr bool idler_single_parking_position = true;
+
+#endif //CONFIGURATION_H
\ No newline at end of file
diff --git a/MM-control-01/configuration_MMUv2.h.in b/MM-control-01/configuration_MMUv2.h.in
new file mode 100644
index 00000000..28876e02
--- /dev/null
+++ b/MM-control-01/configuration_MMUv2.h.in
@@ -0,0 +1,21 @@
+//! @file
+//! @author Marek Bel
+
+#ifndef CONFIGURATION_H
+#define CONFIGURATION_H
+
+// MMUv2 configuration
+// edit input file configuration_MMUv2.h.in
+
+static constexpr int idler_homing_direction = 1;
+
+static constexpr int selector_steps_after_homing = -3700;
+static constexpr int idler_steps_after_homing = -130;
+
+static constexpr int selector_steps = 2790/4;
+static constexpr int idler_steps = 1420 / 4;    // 2 msteps = 180 / 4
+static constexpr int idler_parking_steps = (idler_steps / 2) + 40;  // 40
+static constexpr int pulley_parking_steps = 600;
+static constexpr bool idler_single_parking_position = false;
+
+#endif //CONFIGURATION_H
\ No newline at end of file
diff --git a/MM-control-01/mmctl.cpp b/MM-control-01/mmctl.cpp
index e3b37288..d777874f 100644
--- a/MM-control-01/mmctl.cpp
+++ b/MM-control-01/mmctl.cpp
@@ -15,6 +15,7 @@
 #include "motion.h"
 #include "permanent_storage.h"
 #include "config.h"
+#include "configuration.h"
 
 //! Keeps track of selected filament. It is used for LED signalization and it is backed up to permanent storage
 //! so MMU can unload filament after power loss.
@@ -90,7 +91,7 @@ bool feed_filament(bool timeout)
 	{
 		// unload to PTFE tube
 		set_pulley_dir_pull();
-		for (int i = 600 + finda_limit; i > 0; i--)
+		for (int i = pulley_parking_steps + finda_limit; i > 0; i--)
 		{
 			do_pulley_step();
 			delayMicroseconds(3000);
@@ -337,7 +338,7 @@ static bool checkOk()
             // looks ok !
             // unload to PTFE tube
             set_pulley_dir_pull();
-            for (int i = 600; i > 0; i--)   // 570
+            for (int i = pulley_parking_steps; i > 0; i--)
             {
                 do_pulley_step();
                 delayMicroseconds(3000);
@@ -638,7 +639,7 @@ void unload_filament_withSensor()
         // correct unloading
         // unload to PTFE tube
         set_pulley_dir_pull();
-        for (int i = 450; i > 0; i--)   // 570
+        for (int i = pulley_parking_steps - 150; i > 0; i--)   // 570
         {
             do_pulley_step();
             delayMicroseconds(5000);
diff --git a/MM-control-01/motion.cpp b/MM-control-01/motion.cpp
index 94f4048a..f9e9e1fe 100644
--- a/MM-control-01/motion.cpp
+++ b/MM-control-01/motion.cpp
@@ -10,10 +10,12 @@
 #include "config.h"
 #include "tmc2130.h"
 #include "shr16.h"
+#include "configuration.h"
 
 static uint8_t s_idler = 0;
 static uint8_t s_selector = 0;
 static bool s_selector_homed = false;
+static bool s_idler_homed = false;
 static bool s_idler_engaged = true;
 static bool s_has_door_sensor = false;
 
@@ -26,7 +28,7 @@ void rehome()
     shr16_set_ena(7);
     tmc2130_init(tmc2130_mode);
     home();
-    if (s_idler_engaged) park_idler(true);
+    park_idler(!s_idler_engaged);
 }
 
 static void rehome_idler()
@@ -38,7 +40,7 @@ static void rehome_idler()
     home_idler();
     int idler_steps = get_idler_steps(0, s_idler);
     move_proportional(idler_steps, 0);
-    if (s_idler_engaged) park_idler(true);
+    park_idler(!s_idler_engaged);
 }
 
 void motion_set_idler_selector(uint8_t idler_selector)
@@ -55,20 +57,29 @@ void motion_set_idler_selector(uint8_t idler_selector)
 //! @param selector selector
 void motion_set_idler_selector(uint8_t idler, uint8_t selector)
 {
+    if (!s_idler_homed)
+    {
+        motion_set_idler(0);
+    }
     if (!s_selector_homed)
     {
-            home();
-            s_selector = 0;
-            s_idler = 0;
-            s_selector_homed = true;
+        home_selector();
+        s_selector = 0;
+        s_selector_homed = true;
     }
     const uint8_t tries = 2;
     for (uint8_t i = 0; i <= tries; ++i)
     {
         int idler_steps = get_idler_steps(s_idler, idler);
         int selector_steps = get_selector_steps(s_selector, selector);
-
-        move_proportional(idler_steps, selector_steps);
+        if (idler_single_parking_position && !s_idler_engaged)
+        {
+            move_proportional(0, selector_steps);
+        }
+        else
+        {
+            move_proportional(idler_steps, selector_steps);
+        }
         s_idler = idler;
         s_selector = selector;
 
@@ -100,14 +111,28 @@ static void check_idler_drive_error()
 void motion_engage_idler()
 {
     s_idler_engaged = true;
-    park_idler(true);
+    if (idler_single_parking_position)
+    {
+        motion_set_idler(s_idler);
+    }
+    park_idler(false);
     check_idler_drive_error();
 }
 
 void motion_disengage_idler()
 {
     s_idler_engaged = false;
-    park_idler(false);
+    if (idler_single_parking_position)
+    {
+        if (!s_idler_homed)
+        {
+            home_idler();
+            s_idler_homed = true;
+        }
+        int idler_steps = get_idler_steps(s_idler, 0);
+        move_proportional(idler_steps, 0);
+    }
+    park_idler(true);
     check_idler_drive_error();
 }
 
@@ -222,7 +247,11 @@ void motion_door_sensor_detected()
 
 void motion_set_idler(uint8_t idler)
 {
-    home_idler();
+    if (!s_idler_homed)
+    {
+        home_idler();
+        s_idler_homed = true;
+    }
     int idler_steps = get_idler_steps(0, idler);
     move_proportional(idler_steps, 0);
     s_idler = idler;
diff --git a/MM-control-01/stepper.cpp b/MM-control-01/stepper.cpp
index 5522cdbe..97daf89f 100644
--- a/MM-control-01/stepper.cpp
+++ b/MM-control-01/stepper.cpp
@@ -11,17 +11,11 @@
 #include "permanent_storage.h"
 #include "pins.h"
 #include "tmc2130.h"
+#include "configuration.h"
 
 int8_t filament_type[EXTRUDERS] = {-1, -1, -1, -1, -1};
 static bool isIdlerParked = false;
 
-static const int selector_steps_after_homing = -3700;
-static const int idler_steps_after_homing = -130;
-
-static const int selector_steps = 2790/4;
-static const int idler_steps = 1420 / 4;    // 2 msteps = 180 / 4
-static const int idler_parking_steps = (idler_steps / 2) + 40;  // 40
-
 
 static int set_idler_direction(int _steps);
 static int set_selector_direction(int _steps);
@@ -77,14 +71,14 @@ bool home_idler()
 
 	tmc2130_init(HOMING_MODE);
 
-	move(-10, 0, 0); // move a bit in opposite direction
+	move(-10*idler_homing_direction, 0, 0); // move a bit in opposite direction
 
 	for (int c = 1; c > 0; c--)  // not really functional, let's do it rather more times to be sure
 	{
 		delay(50);
 		for (int i = 0; i < 2000; i++)
 		{
-			move(1, 0,0);
+			move(idler_homing_direction, 0,0);
 			delayMicroseconds(100);
 			tmc2130_read_sg(0);
 
@@ -95,15 +89,15 @@ bool home_idler()
 		}
 	}
 
-	move(idler_steps_after_homing, 0, 0); // move to initial position
+    move(idler_steps_after_homing, 0, 0); // move to initial position
 
-	tmc2130_init(tmc2130_mode);
+    tmc2130_init(tmc2130_mode);
 
-	delay(500);
+    delay(500);
 
-    isIdlerParked = false;
+	    isIdlerParked = false;
 
-	park_idler(false);
+	    park_idler(true);
 
 	return true;
 }
@@ -294,17 +288,17 @@ void set_pulley_dir_pull()
 
 //! @brief Park idler
 //! each filament selected has its park position, there is no park position for all filaments.
-//! @param _unpark
-//!  * false park
-//!  * true engage
-void park_idler(bool _unpark)
+//! @param park
+//!  * true park
+//!  * false engage
+void park_idler(bool park)
 {
-    if (_unpark && isIdlerParked) // get idler in contact with filament
+    if (!park && isIdlerParked) // get idler in contact with filament
     {
         move_proportional(idler_parking_steps, 0);
         isIdlerParked = false;
     }
-    else if (!_unpark && !isIdlerParked) // park idler so filament can move freely
+    else if (park && !isIdlerParked) // park idler so filament can move freely
     {
         move_proportional(idler_parking_steps*-1, 0);
         isIdlerParked = true;
diff --git a/MM-control-01/stepper.h b/MM-control-01/stepper.h
index 99293364..2952889f 100644
--- a/MM-control-01/stepper.h
+++ b/MM-control-01/stepper.h
@@ -11,6 +11,7 @@ extern int8_t filament_type[EXTRUDERS];
 
 void home();
 bool home_idler();
+bool home_selector();
 
 int get_idler_steps(int current_filament, int next_filament);
 int get_selector_steps(int current_filament, int next_filament);
diff --git a/build.sh b/build.sh
index fbaf630d..b97691f9 100755
--- a/build.sh
+++ b/build.sh
@@ -34,4 +34,20 @@ if [ ! -f "$BUILD_ENV.version" ]; then
     touch $BUILD_ENV.version || exit 9
 fi
 
-cmake --build . || exit 10
\ No newline at end of file
+cmake --build . || exit 10
+cd ..
+
+if [ ! -d "MM-control-01_FANTAv1-build" ]; then
+    mkdir MM-control-01_FANTAv1-build  || exit 11
+fi
+
+cd MM-control-01_FANTAv1-build || exit 12
+
+if [ ! -f "$BUILD_ENV.version" ]; then
+    rm -r *
+    cmake -G "$BUILD_GENERATOR" -DMODEL=FANTAv1 $SCRIPT_PATH || exit 13
+    touch $BUILD_ENV.version || exit 14
+fi
+
+cmake --build . || exit 15
+cd ..
\ No newline at end of file